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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 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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489 | killagreg | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
360 | holgerb | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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41 | ingob | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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489 | killagreg | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
360 | holgerb | 22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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41 | ingob | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 32 | // + Software LICENSING TERMS |
41 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
489 | killagreg | 35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
360 | holgerb | 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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41 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | #include <stdio.h> |
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470 | killagreg | 57 | #include <stdlib.h> |
41 | ingob | 58 | #include <stdarg.h> |
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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489 | killagreg | 66 | #include "i2c.h" |
41 | ingob | 67 | #include "uart0.h" |
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" |
358 | holgerb | 79 | #include "spi_slave.h" |
349 | ingob | 80 | #include "ftphelper.h" |
378 | holgerb | 81 | #include "led.h" |
433 | ingob | 82 | #include "fat16.h" |
598 | holgerb | 83 | #include "crc16.h" |
529 | holgerb | 84 | #include "eeprom.h" |
41 | ingob | 85 | |
529 | holgerb | 86 | #define LIC_CMD_READ_LICENSE 1 |
87 | #define LIC_CMD_WRITE_LICENSE 2 |
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88 | #define LIC_CMD_ERASE_LICENSE 3 |
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433 | ingob | 89 | |
41 | ingob | 90 | #define FALSE 0 |
91 | #define TRUE 1 |
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92 | |||
351 | holgerb | 93 | #define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
198 | killagreg | 94 | u32 UART1_AboTimeOut = 0; |
92 | killagreg | 95 | |
598 | holgerb | 96 | NaviData_Volatile_t NaviData_Volatile; |
97 | NaviData_WP_t NaviData_WP; |
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98 | NaviData_Deviation_t NaviData_Deviation; |
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99 | NaviData_Home_t NaviData_Home; |
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100 | NaviData_Target_t NaviData_Target; |
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101 | NaviData_Flags_t NaviData_Flags; |
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102 | NaviData_Tiny_t NaviData_Tiny; |
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789 | holgerb | 103 | NaviData_FS_Pos_t NaviData_Failsafe; |
620 | holgerb | 104 | NaviData_Out_t NaviData_Out1Trigger; |
598 | holgerb | 105 | NaviData_t NaviData; |
106 | |||
110 | killagreg | 107 | u8 UART1_Request_VersionInfo = FALSE; |
108 | u8 UART1_Request_ExternalControl= FALSE; |
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109 | u8 UART1_Request_Display = FALSE; |
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110 | u8 UART1_Request_Display1 = FALSE; |
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111 | u8 UART1_Request_DebugData = FALSE; |
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112 | u8 UART1_Request_DebugLabel = 255; |
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113 | u8 UART1_Request_NaviData = FALSE; |
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114 | u8 UART1_Request_ErrorMessage = FALSE; |
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295 | killagreg | 115 | u8 UART1_Request_WritePoint = 0xFF; |
280 | killagreg | 116 | u8 UART1_Request_ReadPoint = 0; |
110 | killagreg | 117 | u8 UART1_Request_Data3D = FALSE; |
358 | holgerb | 118 | u8 UART1_Request_MotorData = FALSE; |
110 | killagreg | 119 | u8 UART1_Request_Echo = FALSE; |
156 | killagreg | 120 | u8 UART1_Request_ParameterId = 0; |
494 | killagreg | 121 | u8 UART1_Request_WPLStore = FALSE; |
158 | killagreg | 122 | u8 UART1_Request_Parameter = FALSE; |
447 | holgerb | 123 | u8 UART1_Request_SystemTime = FALSE; |
201 | killagreg | 124 | u8 UART1_DisplayKeys = 0; |
112 | killagreg | 125 | u8 UART1_DisplayLine = 0; |
126 | u8 UART1_ConfirmFrame = 0; |
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349 | ingob | 127 | u8 UART1_Request_FTP = FALSE; |
529 | holgerb | 128 | u8 UART1_Request_LicenseString = FALSE; |
689 | holgerb | 129 | u8 UART1_Request_PPM_Channels = FALSE; |
360 | holgerb | 130 | u8 LastTransmittedFCStatusFlags2 = 0; |
398 | holgerb | 131 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
466 | holgerb | 132 | u8 Send_NMEA_RMC = FALSE; |
626 | holgerb | 133 | u8 NaviData_Flags_SpeakHoTT_Processed = 0; |
689 | holgerb | 134 | u8 NewExternalControlFrame = 0; // flag that sends the Frame to FC |
773 | holgerb | 135 | u16 UART1_BaudrateFallbackTimeout = 0; |
41 | ingob | 136 | |
689 | holgerb | 137 | SerialChannel_t SerialChannel; |
138 | u8 NewSerialChannelFrame = 0; // flag that sends the Frame to FC |
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139 | |||
41 | ingob | 140 | UART_TypeDef *DebugUART = UART1; |
141 | |||
314 | killagreg | 142 | #ifdef FOLLOW_ME |
143 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
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315 | killagreg | 144 | u32 UART1_FollowMe_Timer = 0; |
314 | killagreg | 145 | Point_t FollowMe; |
146 | #endif |
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147 | |||
153 | killagreg | 148 | // the primary rx fifo |
675 | holgerb | 149 | #define UART1_RX_FIFO_LEN 1500 |
153 | killagreg | 150 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
151 | fifo_t UART1_rx_fifo; |
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110 | killagreg | 152 | |
153 | // the rx buffer |
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675 | holgerb | 154 | #define UART1_RX_BUFFER_LEN 1500 |
110 | killagreg | 155 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
156 | Buffer_t UART1_rx_buffer; |
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157 | |||
153 | killagreg | 158 | // the tx buffer |
671 | holgerb | 159 | //#define UART1_TX_BUFFER_LEN 1024 |
160 | #define UART1_TX_BUFFER_LEN 1500 |
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153 | killagreg | 161 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
162 | Buffer_t UART1_tx_buffer; |
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163 | |||
92 | killagreg | 164 | volatile u8 SerialLinkOkay = 0; |
41 | ingob | 165 | |
150 | killagreg | 166 | u8 text[200]; |
529 | holgerb | 167 | u8 *LicensePtr = UART1_tbuffer; |
41 | ingob | 168 | |
169 | const u8 ANALOG_LABEL[32][16] = |
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170 | { |
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90 | killagreg | 171 | //1234567890123456 |
41 | ingob | 172 | "AngleNick ", //0 |
173 | "AngleRoll ", |
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174 | "AccNick ", |
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175 | "AccRoll ", |
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516 | holgerb | 176 | "Altitude [0.1m] ", |
200 | killagreg | 177 | "FC-Flags ", //5 |
95 | killagreg | 178 | "NC-Flags ", |
511 | holgerb | 179 | "Voltage [0.1V] ", |
180 | "Current [0.1A] ", |
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41 | ingob | 181 | "GPS Data ", |
61 | holgerb | 182 | "CompassHeading ", //10 |
183 | "GyroHeading ", |
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419 | holgerb | 184 | "SPI Error ", // achtung: muss auf 12 bleiben |
643 | holgerb | 185 | "GPS CRC Error ", |
189 | killagreg | 186 | "I2C Error ", |
41 | ingob | 187 | "I2C Okay ", //15 |
529 | holgerb | 188 | "16 ", |
189 | "17 ", |
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190 | "18 ", |
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776 | holgerb | 191 | "19 ", |
330 | holgerb | 192 | "EarthMagnet [%] ", //20 |
456 | holgerb | 193 | "Ground Speed ", // "Z_Speed ", |
338 | holgerb | 194 | "N_Speed ", |
195 | "E_Speed ", |
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310 | holgerb | 196 | "Magnet X ", |
338 | holgerb | 197 | "Magnet Y ", //25 |
310 | holgerb | 198 | "Magnet Z ", |
41 | ingob | 199 | "Distance N ", |
200 | "Distance E ", |
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511 | holgerb | 201 | "-GPS_Nick ", |
202 | "-GPS_Roll ", //30 |
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41 | ingob | 203 | "Used_Sats " |
204 | }; |
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205 | |||
495 | killagreg | 206 | typedef struct |
207 | { |
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208 | u8 Index; |
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209 | u8 Status; |
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210 | } __attribute__((packed)) WPL_Answer_t; |
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211 | WPL_Answer_t WPL_Answer; |
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212 | |||
112 | killagreg | 213 | DebugOut_t DebugOut; |
214 | ExternControl_t ExternControl; |
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215 | UART_VersionInfo_t UART_VersionInfo; |
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216 | NaviData_t NaviData; |
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217 | Data3D_t Data3D; |
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496 | killagreg | 218 | |
112 | killagreg | 219 | u16 Echo; // 2 bytes recieved will be sent back as echo |
41 | ingob | 220 | |
193 | killagreg | 221 | u32 UART1_DebugData_Timer = 0; |
198 | killagreg | 222 | u32 UART1_DebugData_Interval = 0; // in ms |
193 | killagreg | 223 | u32 UART1_NaviData_Timer = 0; |
198 | killagreg | 224 | u32 UART1_NaviData_Interval = 0; // in ms |
598 | holgerb | 225 | u16 UART1_NaviData_MaxBytes = 0; // newer protocol? |
198 | killagreg | 226 | u32 UART1_Data3D_Timer = 0; |
227 | u32 UART1_Data3D_Interval = 0; // in ms |
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358 | holgerb | 228 | u32 UART1_MotorData_Timer = 0; |
229 | u32 UART1_MotorData_Interval = 0; // in ms |
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193 | killagreg | 230 | u32 UART1_Display_Timer = 0; |
201 | killagreg | 231 | u32 UART1_Display_Interval = 0; // in ms |
460 | holgerb | 232 | u32 NMEA_Timer = 0; |
532 | holgerb | 233 | u32 NMEA_Interval = 0;// in ms |
112 | killagreg | 234 | |
598 | holgerb | 235 | u8 CalculateDebugLableCrc(void) |
236 | { |
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237 | u16 i; |
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238 | u8 crc = 0; |
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239 | for(i=0;i<sizeof(ANALOG_LABEL);i++) crc += ANALOG_LABEL[0][i]; |
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240 | return(crc); |
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241 | } |
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242 | |||
41 | ingob | 243 | /********************************************************/ |
244 | /* Initialization the UART1 */ |
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245 | /********************************************************/ |
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246 | void UART1_Init (void) |
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247 | { |
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248 | GPIO_InitTypeDef GPIO_InitStructure; |
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249 | UART_InitTypeDef UART_InitStructure; |
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250 | |||
153 | killagreg | 251 | // initialize txd buffer |
252 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
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165 | killagreg | 253 | |
153 | killagreg | 254 | // initialize rxd buffer |
255 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
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256 | |||
244 | killagreg | 257 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
258 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
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153 | killagreg | 259 | |
41 | ingob | 260 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
261 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
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262 | |||
263 | /*Configure UART1_Rx pin GPIO3.2*/ |
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264 | GPIO_StructInit(&GPIO_InitStructure); |
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265 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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266 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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267 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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196 | killagreg | 268 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 269 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
270 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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271 | |||
272 | /*Configure UART1_Tx pin GPIO3.3*/ |
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273 | GPIO_StructInit(&GPIO_InitStructure); |
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274 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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275 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
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276 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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277 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
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278 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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279 | |||
675 | holgerb | 280 | // Control of PORT3.7 (FC-UART) |
281 | GPIO_StructInit(&GPIO_InitStructure); |
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282 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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283 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
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284 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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285 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; |
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286 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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287 | DISABLE_FC_UART; |
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288 | |||
41 | ingob | 289 | /* UART1 configured as follow: |
290 | - Word Length = 8 Bits |
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291 | - One Stop Bit |
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292 | - No parity |
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293 | - BaudRate = 57600 baud |
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294 | - Hardware flow control Disabled |
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295 | - Receive and transmit enabled |
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296 | - Receive and transmit FIFOs are Disabled |
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297 | */ |
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298 | UART_StructInit(&UART_InitStructure); |
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299 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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300 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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301 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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110 | killagreg | 302 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
489 | killagreg | 303 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
41 | ingob | 304 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
487 | holgerb | 305 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
306 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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489 | killagreg | 307 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
41 | ingob | 308 | |
309 | UART_DeInit(UART1); // reset uart 1 to default |
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165 | killagreg | 310 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
41 | ingob | 311 | // enable uart 1 interrupts selective |
312 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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313 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
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136 | killagreg | 314 | // configure the uart 1 interupt line |
315 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
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244 | killagreg | 316 | // enable the uart 1 IRQ |
41 | ingob | 317 | VIC_ITCmd(UART1_ITLine, ENABLE); |
153 | killagreg | 318 | |
41 | ingob | 319 | // initialize the debug timer |
110 | killagreg | 320 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
321 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
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461 | holgerb | 322 | NMEA_Timer = SetDelay(14000); |
110 | killagreg | 323 | |
41 | ingob | 324 | // Fill Version Info Structure |
325 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
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326 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
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327 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
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328 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
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489 | killagreg | 329 | UART_VersionInfo.HWMajor = Version_HW & 0x7F; |
548 | holgerb | 330 | UART_VersionInfo.BL_Firmware = 255; |
454 | holgerb | 331 | UART_VersionInfo.Flags = 0; |
598 | holgerb | 332 | UART_VersionInfo.LabelTextCRC = CalculateDebugLableCrc(); |
89 | killagreg | 333 | NaviData.Version = NAVIDATA_VERSION; |
689 | holgerb | 334 | |
335 | PPM_In[PPM_IN_MAX] = +127; |
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336 | PPM_In[PPM_IN_OFF] = -127; |
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337 | PPM_In[PPM_IN_MID] = 0; |
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338 | |||
212 | killagreg | 339 | UART1_PutString("\r\n UART1 init...ok"); |
41 | ingob | 340 | } |
341 | |||
772 | ingob | 342 | /****************************************************************/ |
343 | /* USART1 change baudrate */ |
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344 | /****************************************************************/ |
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345 | void UART1_Configure(u32 baudrate) |
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346 | { |
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347 | UART_InitTypeDef UART_InitStructure; |
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348 | |||
349 | UART_Cmd(UART1, DISABLE); |
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41 | ingob | 350 | |
772 | ingob | 351 | UART_StructInit(&UART_InitStructure); |
352 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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353 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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354 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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355 | UART_InitStructure.UART_BaudRate = baudrate; |
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356 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
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357 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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358 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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359 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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360 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
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361 | |||
362 | UART_DeInit(UART1); // reset uart 1 to default |
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363 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
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364 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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365 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
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366 | } |
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367 | |||
41 | ingob | 368 | /****************************************************************/ |
369 | /* USART1 receiver ISR */ |
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370 | /****************************************************************/ |
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371 | void UART1_IRQHandler(void) |
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372 | { |
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373 | static u8 abortState = 0; |
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374 | u8 c; |
||
375 | |||
376 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
||
377 | { |
||
153 | killagreg | 378 | // clear the pending bits! |
41 | ingob | 379 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
380 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
||
381 | // if debug UART is not UART1 |
||
382 | if (DebugUART != UART1) |
||
383 | { // forward received data to the debug UART tx buffer |
||
384 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
||
385 | { |
||
386 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
||
387 | c = UART_ReceiveData(UART1); |
||
388 | |||
389 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
||
390 | switch (abortState) |
||
391 | { |
||
165 | killagreg | 392 | case 0: |
139 | killagreg | 393 | if (c == 27) abortState++; |
41 | ingob | 394 | break; |
165 | killagreg | 395 | case 1: |
396 | if (c == 27) abortState++; |
||
139 | killagreg | 397 | else abortState = 0; |
41 | ingob | 398 | break; |
139 | killagreg | 399 | case 2: |
165 | killagreg | 400 | if (c == 0x55) abortState++; |
139 | killagreg | 401 | else abortState = 0; |
41 | ingob | 402 | break; |
139 | killagreg | 403 | case 3: |
404 | if (c == 0xAA) abortState++; |
||
405 | else abortState = 0; |
||
41 | ingob | 406 | break; |
165 | killagreg | 407 | case 4: |
139 | killagreg | 408 | if (c == 0x00) |
409 | { |
||
410 | if(DebugUART == UART0) |
||
411 | { |
||
245 | killagreg | 412 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
179 | killagreg | 413 | TIMER2_Init(); // enbable servo outputs |
153 | killagreg | 414 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
139 | killagreg | 415 | } |
416 | DebugUART = UART1; |
||
675 | holgerb | 417 | DISABLE_FC_UART; |
165 | killagreg | 418 | } |
139 | killagreg | 419 | abortState = 0; |
420 | break; |
||
421 | } // end switch abort state |
||
136 | killagreg | 422 | // if the Debug uart is not UART1, redirect input to the Debug UART |
110 | killagreg | 423 | if (DebugUART != UART1) |
424 | { |
||
425 | // wait for space in the tx buffer of the DebugUART |
||
426 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
||
141 | killagreg | 427 | // move byte to the tx fifo of the debug uart |
110 | killagreg | 428 | UART_SendData(DebugUART, c); |
429 | } |
||
41 | ingob | 430 | } |
431 | } |
||
432 | else // DebugUART == UART1 (normal operation) |
||
433 | { |
||
110 | killagreg | 434 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
154 | killagreg | 435 | { // some byes in the hardware fifo |
153 | killagreg | 436 | // get byte from hardware fifo |
41 | ingob | 437 | c = UART_ReceiveData(UART1); |
153 | killagreg | 438 | // put into the software fifo |
439 | if(!fifo_put(&UART1_rx_fifo, c)) |
||
440 | { // fifo overflow |
||
155 | killagreg | 441 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
153 | killagreg | 442 | } |
154 | killagreg | 443 | } // EOF while some byes in the hardware fifo |
41 | ingob | 444 | } // eof DebugUart = UART1 |
445 | } |
||
195 | killagreg | 446 | |
380 | holgerb | 447 | |
448 | |||
378 | holgerb | 449 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
41 | ingob | 450 | } |
451 | |||
452 | /**************************************************************/ |
||
453 | /* Process incomming data from debug uart */ |
||
454 | /**************************************************************/ |
||
455 | void UART1_ProcessRxData(void) |
||
456 | { |
||
154 | killagreg | 457 | // return on forwarding uart or unlocked rx buffer |
380 | holgerb | 458 | u8 c; |
155 | killagreg | 459 | if(DebugUART != UART1) return; |
460 | // if rx buffer is not locked |
||
461 | if(UART1_rx_buffer.Locked == FALSE) |
||
315 | killagreg | 462 | { |
244 | killagreg | 463 | //collect data from primary rx fifo |
155 | killagreg | 464 | while(fifo_get(&UART1_rx_fifo, &c)) |
315 | killagreg | 465 | { |
244 | killagreg | 466 | // break if complete frame is collected |
155 | killagreg | 467 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
468 | } |
||
469 | } |
||
470 | if(UART1_rx_buffer.Locked == FALSE) return; |
||
471 | |||
280 | killagreg | 472 | Point_t * pPoint = NULL; |
153 | killagreg | 473 | SerialMsg_t SerialMsg; |
41 | ingob | 474 | |
190 | killagreg | 475 | // analyze header first |
476 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
||
689 | holgerb | 477 | /* |
194 | killagreg | 478 | if( SerialMsg.Address == FC_ADDRESS ) |
41 | ingob | 479 | { |
192 | killagreg | 480 | switch(SerialMsg.CmdID) |
481 | { |
||
689 | holgerb | 482 | // case 'b': // extern control |
483 | // UART1_ExternalControlConfirmFrame = 1; |
||
484 | // case 'y': // serial poti values |
||
485 | // Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
||
486 | // Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
||
487 | // return; //end process rx data |
||
192 | killagreg | 488 | break; |
489 | } |
||
195 | killagreg | 490 | } |
689 | holgerb | 491 | */ |
190 | killagreg | 492 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
493 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
||
494 | switch(SerialMsg.Address) // check for Slave Address |
||
495 | { |
||
41 | ingob | 496 | case NC_ADDRESS: // own Slave Address |
190 | killagreg | 497 | switch(SerialMsg.CmdID) |
41 | ingob | 498 | { |
489 | killagreg | 499 | case 't': // request for the GPS time |
447 | holgerb | 500 | UART1_Request_SystemTime = TRUE; |
501 | break; |
||
502 | |||
529 | holgerb | 503 | case 'm': // request for the license string |
504 | UART1_Request_LicenseString = SerialMsg.pData[0]; |
||
531 | holgerb | 505 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && (UART_VersionInfo.HWMajor >= 20)) |
529 | holgerb | 506 | { |
763 | holgerb | 507 | memcpy(LicensePtr, &SerialMsg.pData[1],LICENSE_SIZE_TEXT); // copy license |
508 | memcpy(&LicensePtr[460], &SerialMsg.pData[1+460],OEM_NAME_LENGHT); // copy license |
||
529 | holgerb | 509 | } |
510 | break; |
||
349 | ingob | 511 | case 'f': // ftp command |
512 | UART1_Request_FTP = SerialMsg.pData[0]; |
||
489 | killagreg | 513 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
349 | ingob | 514 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
515 | break; |
||
516 | |||
101 | holgerb | 517 | case 'z': // connection checker |
110 | killagreg | 518 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
519 | UART1_Request_Echo = TRUE; |
||
92 | killagreg | 520 | break; |
521 | |||
41 | ingob | 522 | case 'e': // request for the text of the error status |
110 | killagreg | 523 | UART1_Request_ErrorMessage = TRUE; |
41 | ingob | 524 | break; |
525 | |||
526 | case 's':// new target position |
||
280 | killagreg | 527 | pPoint = (Point_t*)SerialMsg.pData; |
528 | if(pPoint->Position.Status == NEWDATA) |
||
41 | ingob | 529 | { |
784 | holgerb | 530 | u32 start = 0; |
315 | killagreg | 531 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
300 | holgerb | 532 | //pPoint->Index = 1; // must be one after empty list |
296 | killagreg | 533 | PointList_SetAt(pPoint); |
315 | killagreg | 534 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
662 | holgerb | 535 | // GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
784 | holgerb | 536 | if(pPoint->Index) start = pPoint->Index-1; |
662 | holgerb | 537 | if(CurrentlyFlyingWaypoints) |
538 | { |
||
784 | holgerb | 539 | GPS_pWaypoint = PointList_WPBegin(start); |
662 | holgerb | 540 | NewWaypointsReceived = 0; // Only an update |
541 | } |
||
295 | killagreg | 542 | BeepTime = 50; |
41 | ingob | 543 | } |
568 | holgerb | 544 | else |
545 | if((pPoint->Position.Status == SIMULATION) && !(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN)) |
||
546 | { |
||
586 | holgerb | 547 | if(pPoint->Event_Flag & SIMULATION_MOTOR_ON) |
548 | { |
||
549 | GPSPos_Copy(&(pPoint->Position), &SimulationPosition); // update hold position |
||
550 | CompassDirectionAtMotorStart = SimulatedDirection*10; |
||
551 | } |
||
568 | holgerb | 552 | if(!(SimulationFlags & SIMULATION_MOTOR_ON) && (pPoint->Event_Flag & SIMULATION_MOTOR_ON)) |
553 | { |
||
554 | SimulationFlags = pPoint->Event_Flag | SIMULATION_MOTOR_START; // dann steht da noch nicht "SIMULATION_MOTOR_ON" drin |
||
555 | SpeakHoTT = SPEAK_STARTING; |
||
556 | } |
||
557 | else |
||
558 | if(!(pPoint->Event_Flag & SIMULATION_MOTOR_ON) && (SimulationFlags & SIMULATION_MOTOR_ON)) |
||
559 | { |
||
560 | SimulationFlags = pPoint->Event_Flag; |
||
561 | SpeakHoTT = SPEAK_MK_OFF; |
||
562 | BeepTime = 50; |
||
563 | } |
||
564 | else |
||
565 | SimulationFlags = pPoint->Event_Flag | (SimulationFlags & SIMULATION_MOTOR_START); |
||
566 | } |
||
41 | ingob | 567 | break; |
568 | case 'u': // redirect debug uart |
||
110 | killagreg | 569 | switch(SerialMsg.pData[0]) |
41 | ingob | 570 | { |
571 | case UART_FLIGHTCTRL: |
||
675 | holgerb | 572 | ENABLE_FC_UART; |
41 | ingob | 573 | UART2_Init(); // initialize UART2 to FC pins |
153 | killagreg | 574 | fifo_purge(&UART1_rx_fifo); |
180 | killagreg | 575 | TIMER2_Deinit(); // reduce irq load |
41 | ingob | 576 | DebugUART = UART2; |
577 | break; |
||
578 | case UART_MK3MAG: |
||
255 | killagreg | 579 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
41 | ingob | 580 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
581 | GPSData.Status = INVALID; |
||
153 | killagreg | 582 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 583 | DebugUART = UART0; |
584 | break; |
||
585 | case UART_MKGPS: |
||
255 | killagreg | 586 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
179 | killagreg | 587 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
245 | killagreg | 588 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
41 | ingob | 589 | GPSData.Status = INVALID; |
153 | killagreg | 590 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 591 | DebugUART = UART0; |
592 | break; |
||
153 | killagreg | 593 | default: |
594 | break; |
||
41 | ingob | 595 | } |
596 | break; |
||
597 | |||
295 | killagreg | 598 | case 'w':// Set point in list at index |
165 | killagreg | 599 | { |
280 | killagreg | 600 | pPoint = (Point_t*)SerialMsg.pData; |
671 | holgerb | 601 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
280 | killagreg | 602 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
224 | killagreg | 603 | { |
280 | killagreg | 604 | PointList_Clear(); |
784 | holgerb | 605 | GPS_pWaypoint = PointList_WPBegin(0); |
315 | killagreg | 606 | UART1_Request_WritePoint = 0; // return new point count |
568 | holgerb | 607 | NewWaypointsReceived = 1; |
165 | killagreg | 608 | } |
227 | killagreg | 609 | else |
295 | killagreg | 610 | { // update WP in list at index |
489 | killagreg | 611 | if(pPoint->Index > MaxNumberOfWaypoints) |
490 | killagreg | 612 | { |
613 | UART1_Request_WritePoint = 254; |
||
614 | pPoint->Index = MaxNumberOfWaypoints; |
||
615 | } |
||
616 | else UART1_Request_WritePoint = PointList_SetAt(pPoint); |
||
315 | killagreg | 617 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
519 | holgerb | 618 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
295 | killagreg | 619 | if(UART1_Request_WritePoint == pPoint->Index) |
225 | killagreg | 620 | { |
621 | BeepTime = 500; |
||
519 | holgerb | 622 | if(UART1_Request_WritePoint == 1) SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
165 | killagreg | 623 | } |
624 | } |
||
41 | ingob | 625 | } |
626 | break; |
||
627 | |||
92 | killagreg | 628 | case 'x':// Read Waypoint from List |
280 | killagreg | 629 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
671 | holgerb | 630 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
92 | killagreg | 631 | break; |
632 | |||
494 | killagreg | 633 | case 'i':// Store WP List to file |
496 | killagreg | 634 | memcpy((u8*)&WPL_Store, SerialMsg.pData, sizeof(WPL_Store_t)); |
635 | WPL_Store.Name[11] = 0; // make sure the name string is terminated |
||
497 | killagreg | 636 | WPL_Answer.Index = WPL_Store.Index; // echo Index in cmd answer |
513 | killagreg | 637 | WPL_Answer.Status = PointList_WriteToFile(&WPL_Store); |
495 | killagreg | 638 | UART1_Request_WPLStore = TRUE; |
494 | killagreg | 639 | break; |
640 | |||
160 | holgerb | 641 | case 'j':// Set/Get NC-Parameter |
156 | killagreg | 642 | switch(SerialMsg.pData[0]) |
643 | { |
||
644 | case 0: // get |
||
645 | break; |
||
165 | killagreg | 646 | |
156 | killagreg | 647 | case 1: // set |
159 | killagreg | 648 | { |
649 | s16 value; |
||
650 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
||
651 | NCParams_SetValue(SerialMsg.pData[1], &value); |
||
652 | } |
||
156 | killagreg | 653 | break; |
491 | killagreg | 654 | |
156 | killagreg | 655 | default: |
165 | killagreg | 656 | break; |
156 | killagreg | 657 | } |
658 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
||
659 | UART1_Request_Parameter = TRUE; |
||
660 | break; |
||
41 | ingob | 661 | default: |
662 | // unsupported command recieved |
||
663 | break; |
||
664 | } // case NC_ADDRESS |
||
65 | killagreg | 665 | // "break;" is missing here to fall thru to the common commands |
41 | ingob | 666 | |
667 | default: // and any other Slave Address |
||
668 | |||
190 | killagreg | 669 | switch(SerialMsg.CmdID) // check CmdID |
41 | ingob | 670 | { |
671 | case 'a':// request for the labels of the analog debug outputs |
||
110 | killagreg | 672 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
673 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
||
41 | ingob | 674 | break; |
689 | holgerb | 675 | |
41 | ingob | 676 | case 'b': // submit extern control |
121 | killagreg | 677 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
112 | killagreg | 678 | UART1_ConfirmFrame = ExternControl.Frame; |
689 | holgerb | 679 | NewExternalControlFrame = 1; |
41 | ingob | 680 | break; |
689 | holgerb | 681 | |
682 | case 'y': // serial Channels |
||
683 | memcpy(&SerialChannel, SerialMsg.pData, sizeof(SerialChannel)); |
||
684 | memcpy((u8 *) &(PPM_In[SERIAL_POTI_START]), (u8 *) &SerialChannel, 12); // copy the 12 Bytes Serial Channels into the PPM_In array |
||
685 | NewSerialChannelFrame = 1; |
||
686 | break; |
||
687 | |||
688 | case 'g':// request for the externalControl |
||
689 | UART1_Request_ExternalControl = TRUE; |
||
690 | break; |
||
691 | |||
692 | case 'p':// request for the PPM_In |
||
693 | UART1_Request_PPM_Channels = TRUE; |
||
694 | break; |
||
695 | |||
41 | ingob | 696 | case 'd': // request for debug data; |
110 | killagreg | 697 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
698 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
||
198 | killagreg | 699 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
41 | ingob | 700 | break; |
701 | |||
63 | killagreg | 702 | case 'c': // request for 3D data; |
110 | killagreg | 703 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
704 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
||
198 | killagreg | 705 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
63 | killagreg | 706 | break; |
275 | killagreg | 707 | |
358 | holgerb | 708 | case 'k': // request for Motor data; |
709 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
||
710 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
||
711 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
712 | break; |
||
713 | |||
41 | ingob | 714 | case 'h':// reqest for display line |
193 | killagreg | 715 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
716 | { |
||
717 | UART1_DisplayLine = 2; |
||
195 | killagreg | 718 | UART1_Display_Interval = 0; |
598 | holgerb | 719 | UART1_Request_Display = TRUE; |
193 | killagreg | 720 | } |
721 | else |
||
722 | { |
||
201 | killagreg | 723 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
193 | killagreg | 724 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
725 | UART1_DisplayLine = 4; |
||
198 | killagreg | 726 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
598 | holgerb | 727 | if(UART1_Display_Interval) UART1_Request_Display = TRUE; |
193 | killagreg | 728 | } |
41 | ingob | 729 | break; |
730 | |||
731 | case 'l':// reqest for display columns |
||
110 | killagreg | 732 | MenuItem = SerialMsg.pData[0]; |
733 | UART1_Request_Display1 = TRUE; |
||
41 | ingob | 734 | break; |
64 | holgerb | 735 | |
736 | case 'o': // request for navigation information |
||
789 | holgerb | 737 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; // PC sends: 10 = 100ms |
738 | if(SerialMsg.DataLen > 2) UART1_NaviData_MaxBytes = SerialMsg.pData[1] * 256 + SerialMsg.pData[2]; // PC sends: 4 & 0 = 1024 Bytes per second |
||
598 | holgerb | 739 | else UART1_NaviData_MaxBytes = 0; |
110 | killagreg | 740 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
198 | killagreg | 741 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
694 | holgerb | 742 | if(UART1_NaviData_Interval < 100) UART1_NaviData_Interval = 100; |
64 | holgerb | 743 | break; |
744 | |||
41 | ingob | 745 | case 'v': // request for version info |
548 | holgerb | 746 | if(SerialMsg.DataLen > 0 && SerialMsg.pData[0] == 1) UART1_Request_VersionInfo = 1; |
747 | else UART1_Request_VersionInfo = 2; |
||
41 | ingob | 748 | break; |
749 | default: |
||
750 | // unsupported command recieved |
||
751 | break; |
||
752 | } |
||
753 | break; // default: |
||
754 | } |
||
153 | killagreg | 755 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
41 | ingob | 756 | } |
757 | |||
758 | |||
759 | /*****************************************************/ |
||
760 | /* Send a character */ |
||
761 | /*****************************************************/ |
||
110 | killagreg | 762 | s16 UART1_Putchar(char c) |
41 | ingob | 763 | { |
362 | holgerb | 764 | u32 timeout = 10000; |
110 | killagreg | 765 | if (c == '\n') UART1_Putchar('\r'); |
41 | ingob | 766 | // wait until txd fifo is not full |
362 | holgerb | 767 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
41 | ingob | 768 | // transmit byte |
769 | UART_SendData(UART1, c); |
||
314 | killagreg | 770 | #ifdef FOLLOW_ME |
771 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
||
772 | #endif |
||
41 | ingob | 773 | return (0); |
774 | } |
||
775 | |||
776 | /*****************************************************/ |
||
777 | /* Send a string to the debug uart */ |
||
778 | /*****************************************************/ |
||
110 | killagreg | 779 | void UART1_PutString(u8 *s) |
41 | ingob | 780 | { |
781 | if(s == NULL) return; |
||
782 | while (*s != '\0' && DebugUART == UART1) |
||
783 | { |
||
110 | killagreg | 784 | UART1_Putchar(*s); |
41 | ingob | 785 | s ++; |
786 | } |
||
787 | } |
||
788 | |||
113 | killagreg | 789 | |
110 | killagreg | 790 | /**************************************************************/ |
791 | /* Transmit tx buffer via debug uart */ |
||
792 | /**************************************************************/ |
||
793 | void UART1_Transmit(void) |
||
794 | { |
||
795 | u8 tmp_tx; |
||
796 | if(DebugUART != UART1) return; |
||
797 | // if something has to be send and the txd fifo is not full |
||
113 | killagreg | 798 | if(UART1_tx_buffer.Locked == TRUE) |
110 | killagreg | 799 | { |
113 | killagreg | 800 | // while there is some space in the tx fifo |
801 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
||
110 | killagreg | 802 | { |
113 | killagreg | 803 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
804 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
||
314 | killagreg | 805 | #ifdef FOLLOW_ME |
315 | killagreg | 806 | if(TransmitAlsoToFC) |
807 | { |
||
314 | killagreg | 808 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
809 | } |
||
810 | #endif |
||
113 | killagreg | 811 | // if terminating character or end of txd buffer reached |
461 | holgerb | 812 | if((tmp_tx == '\0') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
113 | killagreg | 813 | { |
814 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
||
314 | killagreg | 815 | #ifdef FOLLOW_ME |
816 | TransmitAlsoToFC = 0; |
||
817 | #endif |
||
113 | killagreg | 818 | break; // end while loop |
819 | } |
||
110 | killagreg | 820 | } |
821 | } |
||
822 | } |
||
41 | ingob | 823 | |
460 | holgerb | 824 | //$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
825 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
||
826 | //$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C |
||
466 | holgerb | 827 | //http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm |
576 | holgerb | 828 | |
460 | holgerb | 829 | void CreateNmeaGGA(void) |
830 | { |
||
489 | killagreg | 831 | u8 array[200], i = 0, crc = 0, x; |
832 | s32 tmp1, tmp2; |
||
378 | holgerb | 833 | |
489 | killagreg | 834 | i += sprintf(array, "$GPGGA,"); |
835 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
836 | if(SystemTime.Valid) |
||
837 | { |
||
838 | i += sprintf(&array[i], "%02d%02d%02d.%02d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec/10); |
||
839 | } |
||
840 | else |
||
841 | { |
||
842 | i += sprintf(&array[i], ","); |
||
843 | } |
||
844 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
845 | if(GPSData.Flags & FLAG_GPSFIXOK) |
||
846 | { |
||
847 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
||
848 | i += sprintf(&array[i],"%02d",(s16)tmp1); |
||
460 | holgerb | 849 | |
489 | killagreg | 850 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
851 | tmp1 *= 6; // in Minuten |
||
852 | tmp2 = tmp1 / 1000000L; |
||
576 | holgerb | 853 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
489 | killagreg | 854 | tmp2 = tmp1 % 1000000L; |
576 | holgerb | 855 | tmp2 /= 100; // zwei Stellen zu viel |
856 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
||
460 | holgerb | 857 | |
489 | killagreg | 858 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
859 | else i += sprintf(&array[i],"S,"); |
||
860 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
460 | holgerb | 861 | |
489 | killagreg | 862 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
576 | holgerb | 863 | i += sprintf(&array[i],"%03d", (u16)tmp1); |
460 | holgerb | 864 | |
489 | killagreg | 865 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
866 | tmp1 *= 6; // in Minuten |
||
867 | tmp2 = tmp1 / 1000000L; |
||
576 | holgerb | 868 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
489 | killagreg | 869 | tmp2 = tmp1 % 1000000L; |
576 | holgerb | 870 | tmp2 /= 100; // zwei Stellen zu viel |
871 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
||
460 | holgerb | 872 | |
873 | |||
489 | killagreg | 874 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
875 | else i += sprintf(&array[i],"W,"); |
||
876 | i += sprintf(&array[i],"%d,",GPSData.SatFix); |
||
877 | i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
||
878 | i += sprintf(&array[i],"%d.%d,",(s16)(GPSData.Position_Accuracy/100),abs(GPSData.Position_Accuracy%100)); |
||
879 | // i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
||
739 | holgerb | 880 | tmp1 = NaviData.Altimeter_5cm / 2; // in dm |
489 | killagreg | 881 | i += sprintf(&array[i],"%d.%d,M,",(s16)tmp1 / 10,abs((s16)tmp1 % 10)); |
882 | i += sprintf(&array[i],",,,*"); |
||
883 | } |
||
884 | else |
||
885 | { |
||
886 | i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats); |
||
887 | } |
||
888 | for(x = 1; x < i-1; x++) |
||
889 | { |
||
890 | crc ^= array[x]; |
||
891 | } |
||
892 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
||
893 | AddSerialData(&UART1_tx_buffer,array,i); |
||
894 | |||
895 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
466 | holgerb | 896 | } |
897 | |||
898 | //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
||
899 | //$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP |
||
900 | |||
901 | void CreateNmeaRMC(void) |
||
902 | { |
||
489 | killagreg | 903 | u8 array[200], i = 0, crc = 0, x; |
904 | s16 tmp_int; |
||
905 | s32 tmp1, tmp2; |
||
906 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
907 | i += sprintf(array, "$GPRMC,"); |
||
908 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
909 | if(SystemTime.Valid) |
||
910 | { |
||
911 | i += sprintf(&array[i], "%02d%02d%02d.%03d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
||
912 | } |
||
913 | else |
||
914 | { |
||
915 | i += sprintf(&array[i], ","); |
||
916 | } |
||
917 | if(GPSData.Flags & FLAG_GPSFIXOK) |
||
918 | { |
||
919 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
920 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
||
921 | i += sprintf(&array[i],"A,%02d", (s16)tmp1); // Status: A = Okay V = Warnung |
||
483 | holgerb | 922 | |
489 | killagreg | 923 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
924 | tmp1 *= 6; // in Minuten |
||
925 | tmp2 = tmp1 / 1000000L; |
||
926 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
||
927 | tmp2 = tmp1 % 1000000L; |
||
576 | holgerb | 928 | tmp2 /= 100; // zwei Stellen zu viel |
929 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
||
489 | killagreg | 930 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
931 | else i += sprintf(&array[i],"S,"); |
||
932 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
933 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
||
934 | i += sprintf(&array[i],"%03d", (s16)tmp1); |
||
483 | holgerb | 935 | |
489 | killagreg | 936 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
937 | tmp1 *= 6; // in Minuten |
||
938 | tmp2 = tmp1 / 1000000L; |
||
939 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
||
940 | tmp2 = tmp1 % 1000000L; |
||
576 | holgerb | 941 | tmp2 /= 100; // zwei Stellen zu viel |
942 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
||
489 | killagreg | 943 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
944 | else i += sprintf(&array[i],"W,"); |
||
945 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
946 | tmp_int = GPSData.Speed_Ground; // in cm/sek |
||
947 | tmp_int *= 90; |
||
948 | tmp_int /= 463; |
||
949 | i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten |
||
950 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
951 | i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10); |
||
952 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
953 | if(SystemTime.Valid) |
||
954 | { |
||
955 | i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year); |
||
956 | } |
||
957 | else |
||
958 | { |
||
959 | i += sprintf(&array[i], ","); |
||
960 | } |
||
961 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
962 | i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
963 | if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,"); |
||
964 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
576 | holgerb | 965 | if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D*"); |
966 | else i += sprintf(&array[i], "A*"); |
||
489 | killagreg | 967 | } |
968 | else // kein Satfix |
||
969 | { |
||
970 | i += sprintf(&array[i], "V,,,,,,,,,,N*"); |
||
971 | } |
||
972 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
973 | // CRC |
||
974 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
975 | for(x=1; x<i-1; x++) |
||
976 | { |
||
977 | crc ^= array[x]; |
||
978 | } |
||
979 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
||
980 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
981 | AddSerialData(&UART1_tx_buffer,array,i); |
||
982 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
983 | /* |
||
460 | holgerb | 984 | |
985 | |||
986 | |||
489 | killagreg | 987 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
988 | GPSData.NumOfSats = UbxSol.numSV; |
||
989 | GPSData.SatFix = UbxSol.GPSfix; |
||
990 | GPSData.Position_Accuracy = UbxSol.PAcc; |
||
991 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
||
992 | SetGPSTime(&SystemTime); // update system time |
||
993 | // NAV POSLLH |
||
994 | GPSData.Position.Status = INVALID; |
||
995 | GPSData.Position.Longitude = UbxPosLlh.LON; |
||
996 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
||
997 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
||
998 | GPSData.Position.Status = NEWDATA; |
||
999 | // NAV VELNED |
||
1000 | GPSData.Speed_East = UbxVelNed.VEL_E; |
||
1001 | GPSData.Speed_North = UbxVelNed.VEL_N; |
||
1002 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
||
1003 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
||
1004 | GPSData.Heading = UbxVelNed.Heading; |
||
1005 | SystemTime.Year = 0; |
||
1006 | SystemTime.Month = 0; |
||
1007 | SystemTime.Day = 0; |
||
1008 | SystemTime.Hour = 0; |
||
1009 | SystemTime.Min = 0; |
||
1010 | SystemTime.Sec = 0; |
||
1011 | SystemTime.mSec = 0; |
||
1012 | SystemTime.Valid = 0; |
||
460 | holgerb | 1013 | |
489 | killagreg | 1014 | FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2; |
1015 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
||
1016 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
||
1017 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
||
1018 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
460 | holgerb | 1019 | |
489 | killagreg | 1020 | |
1021 | |||
1022 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
||
1023 | i1 *= 100; |
||
1024 | i1 += i2 / 100000; |
||
1025 | i2 = i2 % 100000; |
||
1026 | i2 /= 10; |
||
1027 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
||
1028 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
||
1029 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
||
1030 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
||
1031 | break; |
||
1032 | case 1: |
||
1033 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
1034 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
||
1035 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
||
1036 | //----------------------------- |
||
1037 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
||
1038 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
||
1039 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
||
1040 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
1041 | |||
460 | holgerb | 1042 | */ |
1043 | } |
||
1044 | |||
620 | holgerb | 1045 | u16 SendTriggerPos(void) |
1046 | { |
||
1047 | u16 sent = 0; |
||
1048 | NaviData_Out1Trigger.Index = 18; |
||
1049 | sent = MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Out1Trigger, sizeof(NaviData_Out1Trigger)) + 1; |
||
765 | holgerb | 1050 | if(sent) Out1TriggerUpdateNewData = 0; |
620 | holgerb | 1051 | // BeepTime = 50; // beep |
1052 | return(sent); |
||
1053 | } |
||
460 | holgerb | 1054 | |
620 | holgerb | 1055 | |
599 | holgerb | 1056 | u16 TransmitNavigationData(u16 MaxBytesPerSecond, u8 clear) // returns the minumum pause time in ms |
598 | holgerb | 1057 | { |
599 | holgerb | 1058 | static u8 state = 0, count_flags = 2, count_target = 3, count_home = 4, count_wp = 5 , count_tiny = 6, count_fs = 7; |
732 | holgerb | 1059 | static u16 CRC_Home = 0, CRC_Target = 0, CRC_Flags = 0, CRC_Wp = 0, CRC_Fs = 0, crc_Tiny = 0; |
620 | holgerb | 1060 | u16 pause, sent = 0, crc_home, crc_target, crc_flags, crc_wp, crc_fs; |
598 | holgerb | 1061 | |
599 | holgerb | 1062 | if(clear) |
1063 | { |
||
1064 | state = 0; |
||
1065 | CRC_Home++; |
||
1066 | CRC_Target++; |
||
1067 | CRC_Flags++; |
||
1068 | CRC_Wp++; |
||
1069 | CRC_Fs++; |
||
637 | holgerb | 1070 | if(ErrorCode) NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; |
1071 | else NaviData_Flags.SpeakHoTT = SPEAK_CONNECTED; |
||
1072 | NaviData_Flags_SpeakHoTT_Processed = 0; // don't overwrite in SPI.C |
||
599 | holgerb | 1073 | return(1); |
1074 | } |
||
598 | holgerb | 1075 | while(!sent) |
1076 | { |
||
620 | holgerb | 1077 | // if(Out1TriggerUpdateNewData && MaxBytesPerSecond > 200) // (only if the data link can transmit more than 200Bytes per secons) -> it wouldn't fit into the data-flow if there are too few bytes available |
1078 | // sent += SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
||
1079 | |||
598 | holgerb | 1080 | switch(state++) |
1081 | { |
||
1082 | case 0: |
||
608 | holgerb | 1083 | case 6: |
620 | holgerb | 1084 | case 5: |
598 | holgerb | 1085 | // belegt 35 ASCII-Zeichen |
1086 | NaviData_Flags.Index = 11; |
||
1087 | NaviData_Flags.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1088 | NaviData_Flags.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
739 | holgerb | 1089 | NaviData_Flags.Altimeter_5cm = NaviData.Altimeter_5cm; |
598 | holgerb | 1090 | NaviData_Flags.GroundSpeed = NaviData.GroundSpeed / 10; |
1091 | NaviData_Flags.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
1092 | NaviData_Flags.OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2); |
||
1093 | NaviData_Flags.NCFlags = NaviData.NCFlags; |
||
1094 | NaviData_Flags.Errorcode = ErrorCode; |
||
1095 | NaviData_Flags.ReserveFlags = 0; |
||
624 | holgerb | 1096 | //NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; -> in SPI.c |
598 | holgerb | 1097 | NaviData_Flags.VarioCharacter = FromFC_VarioCharacter; |
1098 | NaviData_Flags.GPS_ModeCharacter = NC_GPS_ModeCharacter; |
||
1099 | NaviData_Flags.BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
||
763 | holgerb | 1100 | crc_flags = CRC16((unsigned char*)(&NaviData_Flags.OSDStatusFlags2), sizeof(NaviData_Flags) - START_PAYLOAD_DATA); |
598 | holgerb | 1101 | if((crc_flags != CRC_Flags) || (--count_flags == 0)) |
1102 | { |
||
1103 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Flags, sizeof(NaviData_Flags)) + 1; |
||
1104 | CRC_Flags = crc_flags; |
||
1105 | count_flags = 11*2; |
||
1106 | } |
||
626 | holgerb | 1107 | NaviData_Flags_SpeakHoTT_Processed = 1; // allow update in SPI now |
598 | holgerb | 1108 | break; |
1109 | case 1: |
||
608 | holgerb | 1110 | case 7: |
598 | holgerb | 1111 | // belegt 43 ASCII-Zeichen |
1112 | NaviData_Target.Index = 12; |
||
1113 | NaviData_Target.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1114 | NaviData_Target.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
739 | holgerb | 1115 | NaviData_Target.Altimeter_5cm = NaviData.Altimeter_5cm; |
598 | holgerb | 1116 | NaviData_Target.GroundSpeed = NaviData.GroundSpeed / 10; |
1117 | NaviData_Target.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
1118 | NaviData_Target.TargetLongitude = NaviData.TargetPosition.Longitude; |
||
1119 | NaviData_Target.TargetLatitude = NaviData.TargetPosition.Latitude; |
||
1120 | NaviData_Target.TargetAltitude = NaviData.TargetPosition.Altitude; |
||
1121 | NaviData_Target.RC_Quality = NaviData.RC_Quality; |
||
763 | holgerb | 1122 | crc_target = CRC16((unsigned char*)(&NaviData_Target.TargetLongitude), sizeof(NaviData_Target) - START_PAYLOAD_DATA); |
598 | holgerb | 1123 | if((crc_target != CRC_Target) || (--count_target == 0)) |
1124 | { |
||
1125 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Target, sizeof(NaviData_Target)) + 1; |
||
1126 | CRC_Target = crc_target; |
||
1127 | count_target = 10*2; |
||
1128 | } |
||
1129 | break; |
||
1130 | case 2: |
||
608 | holgerb | 1131 | case 8: |
598 | holgerb | 1132 | // belegt 31 ASCII-Zeichen |
1133 | NaviData_WP.Index = 15; |
||
1134 | NaviData_WP.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1135 | NaviData_WP.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
739 | holgerb | 1136 | NaviData_WP.Altimeter_5cm = NaviData.Altimeter_5cm; |
598 | holgerb | 1137 | NaviData_WP.GroundSpeed = NaviData.GroundSpeed / 10; |
1138 | NaviData_WP.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
1139 | NaviData_WP.WaypointIndex = NaviData.WaypointIndex; |
||
1140 | NaviData_WP.WaypointNumber = NaviData.WaypointNumber; |
||
1141 | NaviData_WP.TargetHoldTime = NaviData.TargetHoldTime; |
||
1142 | // NaviData_WP.WP_Eventchannel = FC_WP_EventChannel; -> happends already in SPI.c |
||
763 | holgerb | 1143 | crc_wp = CRC16((unsigned char*)(&NaviData_WP.WaypointIndex), sizeof(NaviData_WP) - START_PAYLOAD_DATA); // update crc |
598 | holgerb | 1144 | if((crc_wp != CRC_Wp) || (--count_wp == 0)) |
1145 | { |
||
1146 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_WP, sizeof(NaviData_WP)) + 1; |
||
1147 | CRC_Wp = crc_wp; |
||
1148 | count_wp = 12*2; |
||
1149 | } |
||
1150 | break; |
||
1151 | case 3: |
||
608 | holgerb | 1152 | case 9: |
620 | holgerb | 1153 | // 35 ASCII-Zeichen |
599 | holgerb | 1154 | NaviData_Failsafe.Index = 17; |
1155 | NaviData_Failsafe.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1156 | NaviData_Failsafe.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
739 | holgerb | 1157 | NaviData_Failsafe.Altimeter_5cm = NaviData.Altimeter_5cm; |
599 | holgerb | 1158 | NaviData_Failsafe.GroundSpeed = NaviData.GroundSpeed / 10; |
1159 | NaviData_Failsafe.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
608 | holgerb | 1160 | NaviData_Failsafe.Longitude = GPS_FailsafePosition.Longitude; |
1161 | NaviData_Failsafe.Latitude = GPS_FailsafePosition.Latitude; |
||
789 | holgerb | 1162 | crc_fs = CRC16((unsigned char*)(&NaviData_Failsafe.Longitude), sizeof(NaviData_FS_Pos_t) - START_PAYLOAD_DATA); // update crc for the structure |
599 | holgerb | 1163 | if((crc_fs != CRC_Fs) || (--count_fs == 0)) |
1164 | { |
||
1165 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Failsafe, sizeof(NaviData_Failsafe)) + 1; |
||
1166 | CRC_Fs = crc_fs; |
||
1167 | count_fs = 20*2; |
||
1168 | } |
||
1169 | break; |
||
1170 | case 4: |
||
608 | holgerb | 1171 | case 10: |
598 | holgerb | 1172 | // belegt 43 ASCII-Zeichen |
1173 | NaviData_Home.Index = 13; |
||
1174 | NaviData_Home.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1175 | NaviData_Home.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
739 | holgerb | 1176 | NaviData_Home.Altimeter_5cm = NaviData.Altimeter_5cm; |
598 | holgerb | 1177 | NaviData_Home.GroundSpeed = NaviData.GroundSpeed / 10; |
1178 | NaviData_Home.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
1179 | NaviData_Home.HomeLongitude = NaviData.HomePosition.Longitude; |
||
1180 | NaviData_Home.HomeLatitude = NaviData.HomePosition.Latitude; |
||
1181 | NaviData_Home.HomeAltitude = NaviData.HomePosition.Altitude; |
||
622 | holgerb | 1182 | NaviData_Home.WP_OperatingRadius = MaxWP_Radius_in_m; |
763 | holgerb | 1183 | crc_home = CRC16((unsigned char*)(&NaviData_Home.HomeLongitude), sizeof(NaviData_Home_t) - START_PAYLOAD_DATA); // update crc for the structure |
598 | holgerb | 1184 | if((crc_home != CRC_Home) || (--count_home == 0)) |
1185 | { |
||
1186 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Home, sizeof(NaviData_Home)) + 1; |
||
1187 | CRC_Home = crc_home; |
||
1188 | count_home = 25; |
||
1189 | } |
||
1190 | break; |
||
620 | holgerb | 1191 | case 11: |
598 | holgerb | 1192 | // belegt 39 ASCII-Zeichen |
1193 | NaviData_Deviation.Index = 14; |
||
1194 | NaviData_Deviation.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1195 | NaviData_Deviation.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
739 | holgerb | 1196 | NaviData_Deviation.Altimeter_5cm = NaviData.Altimeter_5cm; |
598 | holgerb | 1197 | NaviData_Deviation.GroundSpeed = NaviData.GroundSpeed / 10; |
1198 | NaviData_Deviation.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
1199 | NaviData_Deviation.FlyingTime = NaviData.FlyingTime; |
||
737 | holgerb | 1200 | NaviData_Deviation.DistanceToHome = NaviData.HomePositionDeviation.Distance_dm; |
598 | holgerb | 1201 | NaviData_Deviation.HeadingToHome = NaviData.HomePositionDeviation.Bearing/2; |
737 | holgerb | 1202 | NaviData_Deviation.DistanceToTarget = NaviData.TargetPositionDeviation.Distance_dm; |
598 | holgerb | 1203 | NaviData_Deviation.HeadingToTarget = NaviData.TargetPositionDeviation.Bearing/2; |
1204 | NaviData_Deviation.AngleNick = NaviData.AngleNick; |
||
1205 | NaviData_Deviation.AngleRoll = NaviData.AngleRoll; |
||
1206 | NaviData_Deviation.SatsInUse = NaviData.SatsInUse; |
||
1207 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Deviation, sizeof(NaviData_Deviation)) + 1; |
||
1208 | break; |
||
620 | holgerb | 1209 | case 12: |
598 | holgerb | 1210 | // belegt 43 ASCII-Zeichen |
1211 | NaviData_Volatile.Index = 16; |
||
1212 | NaviData_Volatile.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1213 | NaviData_Volatile.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
739 | holgerb | 1214 | NaviData_Volatile.Altimeter_5cm = NaviData.Altimeter_5cm; |
598 | holgerb | 1215 | NaviData_Volatile.GroundSpeed = NaviData.GroundSpeed / 10; |
1216 | NaviData_Volatile.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
1217 | NaviData_Volatile.UBat = FC.BAT_Voltage; |
||
1218 | NaviData_Volatile.Current = NaviData.Current; |
||
1219 | NaviData_Volatile.UsedCapacity = NaviData.UsedCapacity; |
||
1220 | NaviData_Volatile.Variometer = NaviData.Variometer; |
||
1221 | NaviData_Volatile.Heading = NaviData.Heading / 2; |
||
1222 | NaviData_Volatile.CompassHeading = NaviData.CompassHeading / 2; |
||
1223 | NaviData_Volatile.Gas = NaviData.Gas; |
||
599 | holgerb | 1224 | NaviData_Volatile.SetpointAltitude = NaviData.SetpointAltitude; |
598 | holgerb | 1225 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Volatile, sizeof(NaviData_Volatile)) + 1; |
1226 | break; |
||
620 | holgerb | 1227 | case 13: |
598 | holgerb | 1228 | // belegt 27 ASCII-Zeichen |
1229 | NaviData_Tiny.Index = 10; |
||
1230 | NaviData_Tiny.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1231 | NaviData_Tiny.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
739 | holgerb | 1232 | NaviData_Tiny.Altimeter_5cm = NaviData.Altimeter_5cm; |
598 | holgerb | 1233 | NaviData_Tiny.GroundSpeed = NaviData.GroundSpeed / 10; |
1234 | NaviData_Tiny.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
732 | holgerb | 1235 | NaviData_Tiny.CamCtrlChar = CamCtrlCharacter; |
1236 | if((crc_Tiny != NaviData_Tiny.CamCtrlChar) || (--count_tiny == 0)) |
||
598 | holgerb | 1237 | { |
1238 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Tiny, sizeof(NaviData_Tiny)) + 1; |
||
608 | holgerb | 1239 | count_tiny = 200; // just to make sure that it comes sometimes |
732 | holgerb | 1240 | crc_Tiny = NaviData_Tiny.CamCtrlChar; |
598 | holgerb | 1241 | } |
1242 | break; |
||
1243 | default: state = 0; |
||
1244 | break; |
||
1245 | } |
||
1246 | } |
||
1247 | pause = (sent * 1000) / MaxBytesPerSecond; |
||
1248 | |||
1249 | UART1_Request_NaviData = FALSE; |
||
1250 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
||
1251 | return(pause); |
||
1252 | // Clear at timeout: |
||
1253 | // NaviData_WP.WP_Eventchannel |
||
1254 | } |
||
1255 | |||
41 | ingob | 1256 | /**************************************************************/ |
1257 | /* Send the answers to incomming commands at the debug uart */ |
||
1258 | /**************************************************************/ |
||
1259 | void UART1_TransmitTxData(void) |
||
1260 | { |
||
358 | holgerb | 1261 | static u8 motorindex1 = 255, motorindex2 = 0; |
110 | killagreg | 1262 | if(DebugUART != UART1) return; |
198 | killagreg | 1263 | |
1264 | if(CheckDelay(UART1_AboTimeOut)) |
||
1265 | { |
||
1266 | UART1_DebugData_Interval = 0; |
||
1267 | UART1_NaviData_Interval = 0; |
||
598 | holgerb | 1268 | UART1_NaviData_MaxBytes = 0; |
198 | killagreg | 1269 | UART1_Data3D_Interval = 0; |
1270 | UART1_Display_Interval = 0; |
||
378 | holgerb | 1271 | UART1_MotorData_Interval = 0; |
598 | holgerb | 1272 | UART1_NaviData_Timer = SetDelay(500); |
1273 | UART1_AboTimeOut = SetDelay(100); |
||
599 | holgerb | 1274 | TransmitNavigationData(0,1); // clear the CRC values |
198 | killagreg | 1275 | } |
671 | holgerb | 1276 | //if(UART1_NaviData_MaxBytes > 150) UART1_NaviData_MaxBytes = 150; |
1277 | //UART1_NaviData_MaxBytes = 150; |
||
598 | holgerb | 1278 | /* |
1279 | #define CHK_MIN_INTERVAL(a,b) {if(a && a < b) a = b;} |
||
1280 | UART1_NaviData_Interval = 500; |
||
1281 | CHK_MIN_INTERVAL(UART1_DebugData_Interval,500); |
||
1282 | CHK_MIN_INTERVAL(UART1_NaviData_Interval,1000); |
||
1283 | CHK_MIN_INTERVAL(UART1_Data3D_Interval,255); |
||
1284 | CHK_MIN_INTERVAL(UART1_Display_Interval,1500); |
||
1285 | CHK_MIN_INTERVAL(UART1_MotorData_Interval,750); |
||
1286 | */ |
||
110 | killagreg | 1287 | UART1_Transmit(); // output pending bytes in tx buffer |
1288 | if((UART1_tx_buffer.Locked == TRUE)) return; |
||
41 | ingob | 1289 | |
156 | killagreg | 1290 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
92 | killagreg | 1291 | { |
315 | killagreg | 1292 | s16 ParamValue; |
299 | killagreg | 1293 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
160 | holgerb | 1294 | 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 | 1295 | UART1_Request_Parameter = FALSE; |
1296 | } |
||
1297 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
||
1298 | { |
||
110 | killagreg | 1299 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
92 | killagreg | 1300 | Echo = 0; // reset echo value |
110 | killagreg | 1301 | UART1_Request_Echo = FALSE; |
92 | killagreg | 1302 | } |
349 | ingob | 1303 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
1304 | { |
||
433 | ingob | 1305 | u8 errorcode = FTP_ERROR_NONE; |
1306 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
||
1307 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
||
1308 | |||
1309 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
||
489 | killagreg | 1310 | else |
433 | ingob | 1311 | { |
1312 | u8 cmd = FTP_CMD_ERROR; |
||
1313 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
||
1314 | } |
||
1315 | |||
349 | ingob | 1316 | UART1_Request_FTP = FALSE; |
1317 | } |
||
295 | killagreg | 1318 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
154 | killagreg | 1319 | { |
295 | killagreg | 1320 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
1321 | UART1_Request_WritePoint = 0xFF; |
||
154 | killagreg | 1322 | } |
280 | killagreg | 1323 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
154 | killagreg | 1324 | { |
280 | killagreg | 1325 | u8 PointCount = PointList_GetCount(); |
1326 | if (UART1_Request_ReadPoint <= PointCount) |
||
154 | killagreg | 1327 | { |
280 | killagreg | 1328 | 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 | 1329 | } |
1330 | else |
||
1331 | { |
||
280 | killagreg | 1332 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
154 | killagreg | 1333 | } |
280 | killagreg | 1334 | UART1_Request_ReadPoint = 0; |
154 | killagreg | 1335 | } |
1336 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
||
1337 | { |
||
1338 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
||
1339 | UART1_Request_DebugLabel = 0xFF; |
||
1340 | } |
||
398 | holgerb | 1341 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1342 | { |
||
1343 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
||
1344 | UART1_ExternalControlConfirmFrame = 0; |
||
1345 | } |
||
620 | holgerb | 1346 | else |
1347 | if((UART1_NaviData_Interval > 0) && Out1TriggerUpdateNewData && UART1_NaviData_MaxBytes > 200) // (only if the data link can transmit more than 200Bytes per secons) -> it wouldn't fit into the data-flow if there are too few bytes available |
||
1348 | { |
||
1349 | //sent += |
||
1350 | SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
||
1351 | } |
||
151 | killagreg | 1352 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 1353 | { |
598 | holgerb | 1354 | u16 time = 0; |
599 | holgerb | 1355 | //UART1_NaviData_MaxBytes = 250; |
598 | holgerb | 1356 | if(UART1_NaviData_MaxBytes == 0) // Transmit the big NC Data frame |
1357 | { |
||
151 | killagreg | 1358 | NaviData.Errorcode = ErrorCode; |
378 | holgerb | 1359 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
598 | holgerb | 1360 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
151 | killagreg | 1361 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
598 | holgerb | 1362 | } |
1363 | else |
||
1364 | if(CheckDelay(UART1_NaviData_Timer)) |
||
1365 | { |
||
1366 | // Wert = 50 -> Sekunden laufen in 2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 3-4s) |
||
1367 | // Wert = 100 -> Sekunden laufen in 1-2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 2s) |
||
1368 | // Wert = 150 -> Sekunden laufen flüssig (im Wegpunkteflug mit aktivem Countdown und gleichzeitig Target verschieben manchmal in 2s) |
||
1369 | // Wert = 200 -> Sekunden laufen flüssig |
||
1370 | // Wert >= 250 -> optimal |
||
608 | holgerb | 1371 | //UART1_NaviData_MaxBytes = 45; |
599 | holgerb | 1372 | time = TransmitNavigationData(UART1_NaviData_MaxBytes,0); |
598 | holgerb | 1373 | if(UART1_NaviData_Interval > time) time = UART1_NaviData_Interval; |
1374 | UART1_NaviData_Timer = SetDelay(time); |
||
1375 | } |
||
1376 | UART1_Request_NaviData = FALSE; |
||
151 | killagreg | 1377 | } |
1378 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
||
1379 | { |
||
110 | killagreg | 1380 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
1381 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
||
1382 | UART1_Request_DebugData = FALSE; |
||
41 | ingob | 1383 | } |
151 | killagreg | 1384 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
61 | holgerb | 1385 | { |
358 | holgerb | 1386 | Data3D.StickNick = FC.StickNick; |
1387 | Data3D.StickRoll = FC.StickRoll; |
||
1388 | Data3D.StickYaw = FC.StickYaw; |
||
1389 | Data3D.StickGas = FC.StickGas; |
||
588 | holgerb | 1390 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
1391 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
||
1392 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
||
739 | holgerb | 1393 | Data3D.Altimeter_5cm = FC.Altimeter_5cm; // in 5cm -> 20 = 1m |
110 | killagreg | 1394 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
1395 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
||
1396 | UART1_Request_Data3D = FALSE; |
||
61 | holgerb | 1397 | } |
358 | holgerb | 1398 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
1399 | { |
||
1400 | do |
||
1401 | { |
||
1402 | motorindex1++; |
||
1403 | motorindex1%=12; |
||
1404 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
||
1405 | if(motorindex1 == motorindex2) break; |
||
1406 | } |
||
1407 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
||
1408 | |||
1409 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
||
1410 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
||
1411 | UART1_Request_MotorData = FALSE; |
||
1412 | } |
||
494 | killagreg | 1413 | else if(UART1_Request_WPLStore) |
1414 | { |
||
495 | killagreg | 1415 | /* |
1416 | s8 txt[50]; |
||
1417 | sprintf(txt, "\r\nWPL Overwride = %d, Type = %d, Index = %d, Status = %d\r\n", WPL_Store.OverwriteFile, WPL_Store.Type, WPL_Answer.Index, WPL_Answer.Status); |
||
1418 | UART1_PutString(txt); |
||
1419 | */ |
||
1420 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'I', NC_ADDRESS, 1,(u8 *)&(WPL_Answer), sizeof(WPL_Answer_t)); |
||
494 | killagreg | 1421 | UART1_Request_WPLStore = FALSE; |
1422 | } |
||
460 | holgerb | 1423 | else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE)) |
1424 | { |
||
1425 | CreateNmeaGGA(); |
||
466 | holgerb | 1426 | Send_NMEA_RMC = TRUE; // das muss noch da hinter |
460 | holgerb | 1427 | NMEA_Timer = SetDelay(NMEA_Interval); |
1428 | } |
||
466 | holgerb | 1429 | else if(Send_NMEA_RMC == TRUE && (UART1_tx_buffer.Locked == FALSE)) |
1430 | { |
||
1431 | CreateNmeaRMC(); |
||
1432 | Send_NMEA_RMC = FALSE; |
||
1433 | } |
||
153 | killagreg | 1434 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1435 | { |
||
1436 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
||
1437 | UART1_ConfirmFrame = 0; |
||
1438 | } |
||
151 | killagreg | 1439 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 1440 | { |
110 | killagreg | 1441 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
1442 | UART1_Request_ExternalControl = FALSE; |
||
41 | ingob | 1443 | } |
193 | killagreg | 1444 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
195 | killagreg | 1445 | { |
193 | killagreg | 1446 | if(UART1_DisplayLine > 3) |
1447 | { |
||
201 | killagreg | 1448 | Menu_Update(UART1_DisplayKeys); |
1449 | UART1_DisplayKeys = 0; |
||
193 | killagreg | 1450 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
1451 | } |
||
1452 | else |
||
1453 | { |
||
1454 | UART1_DisplayLine = 2; |
||
1455 | sprintf(text,"!!! incompatible !!!"); |
||
1456 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
||
1457 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
||
1458 | } |
||
1459 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
||
110 | killagreg | 1460 | UART1_Request_Display = FALSE; |
41 | ingob | 1461 | } |
151 | killagreg | 1462 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 1463 | { |
201 | killagreg | 1464 | Menu_Update(0); |
110 | killagreg | 1465 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
1466 | UART1_Request_Display1 = FALSE; |
||
41 | ingob | 1467 | } |
548 | holgerb | 1468 | else if(UART1_Request_VersionInfo == 1 && (UART1_tx_buffer.Locked == FALSE)) // get FC-Versions |
41 | ingob | 1469 | { |
548 | holgerb | 1470 | UART_VersionInfo_t version_tmp; |
1471 | version_tmp.SWMajor = FC_Version.Major; |
||
1472 | version_tmp.SWMinor = FC_Version.Minor; |
||
1473 | version_tmp.SWPatch = FC_Version.Patch; |
||
1474 | version_tmp.HWMajor = FC_Version.Hardware; |
||
1475 | version_tmp.HardwareError[0] = 0xff; // tells the KopterTool that it is the FC-version |
||
1476 | version_tmp.HardwareError[1] = 0xff; // tells the KopterTool that it is the FC-version |
||
1477 | version_tmp.ProtoMajor = UART_VersionInfo.ProtoMajor; |
||
1478 | version_tmp.BL_Firmware = UART_VersionInfo.BL_Firmware; |
||
1479 | version_tmp.Flags = 0; |
||
598 | holgerb | 1480 | version_tmp.LabelTextCRC = 0;//UART_VersionInfo.DebugTextCRC; |
548 | holgerb | 1481 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&version_tmp, sizeof(version_tmp)); |
1482 | UART1_Request_VersionInfo = FALSE; |
||
1483 | } |
||
1484 | else if(UART1_Request_VersionInfo == 2 && (UART1_tx_buffer.Locked == FALSE)) // get NC-Versions |
||
1485 | { |
||
110 | killagreg | 1486 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
1487 | UART1_Request_VersionInfo = FALSE; |
||
41 | ingob | 1488 | } |
447 | holgerb | 1489 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
1490 | { |
||
1491 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
||
1492 | UART1_Request_SystemTime = FALSE; |
||
1493 | } |
||
151 | killagreg | 1494 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 1495 | { |
110 | killagreg | 1496 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
1497 | UART1_Request_ErrorMessage = FALSE; |
||
41 | ingob | 1498 | } |
689 | holgerb | 1499 | else if(UART1_Request_PPM_Channels && (UART1_tx_buffer.Locked == FALSE)) |
1500 | { |
||
694 | holgerb | 1501 | s16 ppm_tmp[MAX_RC_IN], i; |
1502 | for(i=0; i<MAX_RC_IN;i++) ppm_tmp[i] = PPM_In[i]; // because the serial Data expects s16 |
||
1503 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'P', NC_ADDRESS, 1, (u8 *)&ppm_tmp, sizeof(ppm_tmp)); |
||
689 | holgerb | 1504 | UART1_Request_PPM_Channels = FALSE; |
1505 | } |
||
529 | holgerb | 1506 | else if(UART1_Request_LicenseString && (UART1_tx_buffer.Locked == FALSE)) |
1507 | { |
||
531 | holgerb | 1508 | u8 result = 1, cmd = 0; |
529 | holgerb | 1509 | if(UART1_Request_LicenseString == LIC_CMD_READ_LICENSE) |
1510 | { |
||
1511 | result = LIC_CMD_READ_LICENSE; |
||
1512 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &result, 1, LicensePtr, LICENSE_SIZE); |
||
1513 | } |
||
1514 | else |
||
531 | holgerb | 1515 | if((UART1_Request_LicenseString == LIC_CMD_ERASE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
529 | holgerb | 1516 | { |
1517 | result = LIC_CMD_ERASE_LICENSE; |
||
1518 | DeleteLicenseInEEPROM(); |
||
1519 | CheckLicense(GET_LICENSE); |
||
1520 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 1, &result, 1); |
||
1521 | } |
||
1522 | else |
||
531 | holgerb | 1523 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
529 | holgerb | 1524 | { |
531 | holgerb | 1525 | cmd = LIC_CMD_WRITE_LICENSE; |
529 | holgerb | 1526 | if(CheckLicense(CHECK_ONLY)) //new license is okay |
1527 | { |
||
1528 | WriteLicenseToEEPROM(EEPROM_LICENSE_DATA_KOMPATIBEL); |
||
530 | holgerb | 1529 | result = 1; |
529 | holgerb | 1530 | } |
1531 | else //new license is NOT okay |
||
1532 | { |
||
1533 | ClearLicenseText(); |
||
531 | holgerb | 1534 | result = 0; |
1535 | CheckLicense(GET_LICENSE); // fetch a license if available |
||
529 | holgerb | 1536 | } |
531 | holgerb | 1537 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &cmd, 1,&result, 1 ); |
529 | holgerb | 1538 | } |
1539 | UART1_Request_LicenseString = 0; |
||
1540 | } |
||
314 | killagreg | 1541 | #ifdef FOLLOW_ME |
1542 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
||
1543 | { |
||
1544 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
||
315 | killagreg | 1545 | { |
314 | killagreg | 1546 | TransmitAlsoToFC = 1; |
1547 | // update FollowMe content |
||
1548 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
||
1549 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
||
1550 | FollowMe.Position.Status = NEWDATA; |
||
1551 | FollowMe.Position.Altitude = 1; |
||
1552 | // 0 -> no Orientation |
||
1553 | // 1-360 -> CompassCourse Setpoint |
||
1554 | // -1 -> points to WP1 -> itself |
||
1555 | FollowMe.Heading = -1; |
||
1556 | FollowMe.ToleranceRadius = 1; |
||
1557 | FollowMe.HoldTime = 60; |
||
1558 | FollowMe.Event_Flag = 1; |
||
1559 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
||
1560 | FollowMe.Type = POINT_TYPE_WP; |
||
1561 | FollowMe.WP_EventChannelValue = 100; // set servo value |
||
1562 | FollowMe.AltitudeRate = 0; // do not change height |
||
403 | holgerb | 1563 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
1564 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
||
1565 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
||
1566 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
||
1567 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
||
1568 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
||
314 | killagreg | 1569 | FollowMe.reserve[0] = 0; // reserve |
1570 | FollowMe.reserve[1] = 0; // reserve |
||
763 | holgerb | 1571 | /* |
1572 | { |
||
1573 | static u32 distance; |
||
1574 | distance = (10 + distance + AnalogData.Ch5 * 5) / 2; |
||
1575 | |||
1576 | GPSPos_ShiftGeodetic(&(FollowMe.Position), (s16)GyroCompassCorrected/10, distance); |
||
1577 | FollowMe.Heading = (s16)GyroCompassCorrected/10; |
||
1578 | FollowMe.CamAngle = 0; // Camera servo angle in degree (255 -> POI-Automatic) |
||
1579 | FollowMe.Speed = 50 + GPSData.Speed_Ground / 10; |
||
1580 | } |
||
1581 | */ |
||
314 | killagreg | 1582 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
1583 | } |
||
1584 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
||
1585 | } |
||
1586 | #endif |
||
250 | ingob | 1587 | #ifdef DEBUG // only include functions if DEBUG is defined |
314 | killagreg | 1588 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
254 | killagreg | 1589 | { |
1590 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
||
1591 | SendDebugOutput = 0; |
||
1592 | } |
||
315 | killagreg | 1593 | #endif |
110 | killagreg | 1594 | UART1_Transmit(); // output pending bytes in tx buffer |
41 | ingob | 1595 | } |
1596 |