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Rev | Author | Line No. | Line |
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41 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + 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" |
807 | holgerb | 85 | #include "triggerlog.h" |
819 | holgerb | 86 | #include "settings.h" |
833 | holgerb | 87 | #include "MobileMenu.h" |
852 | holgerb | 88 | #include "CamCtrl.h" |
41 | ingob | 89 | |
529 | holgerb | 90 | #define LIC_CMD_READ_LICENSE 1 |
91 | #define LIC_CMD_WRITE_LICENSE 2 |
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92 | #define LIC_CMD_ERASE_LICENSE 3 |
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433 | ingob | 93 | |
41 | ingob | 94 | #define FALSE 0 |
95 | #define TRUE 1 |
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96 | |||
848 | holgerb | 97 | const u32 BAUDRATES[MAX_BD_RATES] = {1200,2400,4800,9600,14400,19200,28800,38400,57600,115200,256000}; |
819 | holgerb | 98 | |
351 | holgerb | 99 | #define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
198 | killagreg | 100 | u32 UART1_AboTimeOut = 0; |
92 | killagreg | 101 | |
598 | holgerb | 102 | NaviData_Volatile_t NaviData_Volatile; |
103 | NaviData_WP_t NaviData_WP; |
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104 | NaviData_Deviation_t NaviData_Deviation; |
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105 | NaviData_Home_t NaviData_Home; |
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106 | NaviData_Target_t NaviData_Target; |
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107 | NaviData_Flags_t NaviData_Flags; |
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108 | NaviData_Tiny_t NaviData_Tiny; |
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789 | holgerb | 109 | NaviData_FS_Pos_t NaviData_Failsafe; |
620 | holgerb | 110 | NaviData_Out_t NaviData_Out1Trigger; |
598 | holgerb | 111 | NaviData_t NaviData; |
824 | holgerb | 112 | NaviData_HoTT_Text_t NaviData_HoTT_Text; |
852 | holgerb | 113 | WP_MissionParameter_t WP_MissionParameter; |
114 | NaviData_Laser_t NaviData_Laser; |
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598 | holgerb | 115 | |
110 | killagreg | 116 | u8 UART1_Request_VersionInfo = FALSE; |
117 | u8 UART1_Request_ExternalControl= FALSE; |
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118 | u8 UART1_Request_Display = FALSE; |
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119 | u8 UART1_Request_Display1 = FALSE; |
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120 | u8 UART1_Request_DebugData = FALSE; |
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121 | u8 UART1_Request_DebugLabel = 255; |
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122 | u8 UART1_Request_NaviData = FALSE; |
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123 | u8 UART1_Request_ErrorMessage = FALSE; |
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295 | killagreg | 124 | u8 UART1_Request_WritePoint = 0xFF; |
280 | killagreg | 125 | u8 UART1_Request_ReadPoint = 0; |
110 | killagreg | 126 | u8 UART1_Request_Data3D = FALSE; |
358 | holgerb | 127 | u8 UART1_Request_MotorData = FALSE; |
110 | killagreg | 128 | u8 UART1_Request_Echo = FALSE; |
156 | killagreg | 129 | u8 UART1_Request_ParameterId = 0; |
494 | killagreg | 130 | u8 UART1_Request_WPLStore = FALSE; |
158 | killagreg | 131 | u8 UART1_Request_Parameter = FALSE; |
447 | holgerb | 132 | u8 UART1_Request_SystemTime = FALSE; |
201 | killagreg | 133 | u8 UART1_DisplayKeys = 0; |
112 | killagreg | 134 | u8 UART1_DisplayLine = 0; |
135 | u8 UART1_ConfirmFrame = 0; |
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349 | ingob | 136 | u8 UART1_Request_FTP = FALSE; |
529 | holgerb | 137 | u8 UART1_Request_LicenseString = FALSE; |
689 | holgerb | 138 | u8 UART1_Request_PPM_Channels = FALSE; |
833 | holgerb | 139 | u8 UART1_Request_MobileLabel = 0xff; |
140 | u8 UART1_Request_MobileMenu = 0; |
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141 | u8 UART1_Request_MobileInfo = 0; |
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852 | holgerb | 142 | u8 UART1_Request_MissonParameter = 0; |
143 | u8 StopAllAbbos = 0; |
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833 | holgerb | 144 | |
360 | holgerb | 145 | u8 LastTransmittedFCStatusFlags2 = 0; |
398 | holgerb | 146 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
466 | holgerb | 147 | u8 Send_NMEA_RMC = FALSE; |
626 | holgerb | 148 | u8 NaviData_Flags_SpeakHoTT_Processed = 0; |
689 | holgerb | 149 | u8 NewExternalControlFrame = 0; // flag that sends the Frame to FC |
773 | holgerb | 150 | u16 UART1_BaudrateFallbackTimeout = 0; |
848 | holgerb | 151 | u32 Uart1Baudrate = UART1_BAUD_RATE; |
865 | holgerb | 152 | u8 FromFC_ExternalCtrlCfg = 0,FromFC_ExternalCtrlSwitch = 0; // answer from FC |
41 | ingob | 153 | |
689 | holgerb | 154 | SerialChannel_t SerialChannel; |
155 | u8 NewSerialChannelFrame = 0; // flag that sends the Frame to FC |
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156 | |||
41 | ingob | 157 | UART_TypeDef *DebugUART = UART1; |
158 | |||
314 | killagreg | 159 | #ifdef FOLLOW_ME |
160 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
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315 | killagreg | 161 | u32 UART1_FollowMe_Timer = 0; |
314 | killagreg | 162 | Point_t FollowMe; |
163 | #endif |
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164 | |||
153 | killagreg | 165 | // the primary rx fifo |
675 | holgerb | 166 | #define UART1_RX_FIFO_LEN 1500 |
153 | killagreg | 167 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
168 | fifo_t UART1_rx_fifo; |
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110 | killagreg | 169 | |
170 | // the rx buffer |
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675 | holgerb | 171 | #define UART1_RX_BUFFER_LEN 1500 |
110 | killagreg | 172 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
173 | Buffer_t UART1_rx_buffer; |
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174 | |||
153 | killagreg | 175 | // the tx buffer |
671 | holgerb | 176 | //#define UART1_TX_BUFFER_LEN 1024 |
177 | #define UART1_TX_BUFFER_LEN 1500 |
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153 | killagreg | 178 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
179 | Buffer_t UART1_tx_buffer; |
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180 | |||
92 | killagreg | 181 | volatile u8 SerialLinkOkay = 0; |
41 | ingob | 182 | |
150 | killagreg | 183 | u8 text[200]; |
529 | holgerb | 184 | u8 *LicensePtr = UART1_tbuffer; |
41 | ingob | 185 | |
186 | const u8 ANALOG_LABEL[32][16] = |
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187 | { |
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90 | killagreg | 188 | //1234567890123456 |
41 | ingob | 189 | "AngleNick ", //0 |
190 | "AngleRoll ", |
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191 | "AccNick ", |
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192 | "AccRoll ", |
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516 | holgerb | 193 | "Altitude [0.1m] ", |
200 | killagreg | 194 | "FC-Flags ", //5 |
95 | killagreg | 195 | "NC-Flags ", |
511 | holgerb | 196 | "Voltage [0.1V] ", |
197 | "Current [0.1A] ", |
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41 | ingob | 198 | "GPS Data ", |
61 | holgerb | 199 | "CompassHeading ", //10 |
200 | "GyroHeading ", |
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419 | holgerb | 201 | "SPI Error ", // achtung: muss auf 12 bleiben |
792 | holgerb | 202 | "Laser [cm] ",//"GPS CRC Error ", |
189 | killagreg | 203 | "I2C Error ", |
41 | ingob | 204 | "I2C Okay ", //15 |
529 | holgerb | 205 | "16 ", |
206 | "17 ", |
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207 | "18 ", |
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776 | holgerb | 208 | "19 ", |
330 | holgerb | 209 | "EarthMagnet [%] ", //20 |
456 | holgerb | 210 | "Ground Speed ", // "Z_Speed ", |
338 | holgerb | 211 | "N_Speed ", |
212 | "E_Speed ", |
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310 | holgerb | 213 | "Magnet X ", |
338 | holgerb | 214 | "Magnet Y ", //25 |
310 | holgerb | 215 | "Magnet Z ", |
41 | ingob | 216 | "Distance N ", |
217 | "Distance E ", |
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511 | holgerb | 218 | "-GPS_Nick ", |
219 | "-GPS_Roll ", //30 |
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41 | ingob | 220 | "Used_Sats " |
221 | }; |
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222 | |||
495 | killagreg | 223 | typedef struct |
224 | { |
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225 | u8 Index; |
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226 | u8 Status; |
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227 | } __attribute__((packed)) WPL_Answer_t; |
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228 | WPL_Answer_t WPL_Answer; |
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229 | |||
112 | killagreg | 230 | DebugOut_t DebugOut; |
231 | ExternControl_t ExternControl; |
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232 | UART_VersionInfo_t UART_VersionInfo; |
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233 | NaviData_t NaviData; |
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234 | Data3D_t Data3D; |
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496 | killagreg | 235 | |
112 | killagreg | 236 | u16 Echo; // 2 bytes recieved will be sent back as echo |
41 | ingob | 237 | |
193 | killagreg | 238 | u32 UART1_DebugData_Timer = 0; |
198 | killagreg | 239 | u32 UART1_DebugData_Interval = 0; // in ms |
193 | killagreg | 240 | u32 UART1_NaviData_Timer = 0; |
198 | killagreg | 241 | u32 UART1_NaviData_Interval = 0; // in ms |
598 | holgerb | 242 | u16 UART1_NaviData_MaxBytes = 0; // newer protocol? |
198 | killagreg | 243 | u32 UART1_Data3D_Timer = 0; |
244 | u32 UART1_Data3D_Interval = 0; // in ms |
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358 | holgerb | 245 | u32 UART1_MotorData_Timer = 0; |
246 | u32 UART1_MotorData_Interval = 0; // in ms |
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193 | killagreg | 247 | u32 UART1_Display_Timer = 0; |
201 | killagreg | 248 | u32 UART1_Display_Interval = 0; // in ms |
833 | holgerb | 249 | u32 UART1_MobileMenu_Timer = 0; |
460 | holgerb | 250 | u32 NMEA_Timer = 0; |
532 | holgerb | 251 | u32 NMEA_Interval = 0;// in ms |
112 | killagreg | 252 | |
819 | holgerb | 253 | |
254 | void GetBaudrateFromSdCard(u32 oldBd) |
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255 | { |
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848 | holgerb | 256 | u16 baud; |
257 | if(Settings_GetParamValue(PID_BAUDRATE,&baud)) |
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819 | holgerb | 258 | { |
259 | u8 i; |
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848 | holgerb | 260 | Uart1Baudrate = baud * 100; |
819 | holgerb | 261 | for(i=0;i<MAX_BD_RATES;i++) if(Uart1Baudrate == BAUDRATES[i]) break; // search the index and check if it is a valid baudrate |
262 | if(i == 0 || i >= MAX_BD_RATES) |
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263 | { |
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264 | UART1_PutString(" Unknown!"); |
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265 | ToFcBaudrateIndex = 8; |
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266 | Uart1Baudrate = UART1_BAUD_RATE; |
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267 | } |
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268 | ToFcBaudrateIndex = i; |
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269 | WriteBaudrateIndexToEEprom(); |
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270 | if(Uart1Baudrate != oldBd) |
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271 | { |
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272 | u8 msg[30]; |
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273 | sprintf(msg, "\r\n -> Changing Baudrate to:%iBd (%u)\n\r",Uart1Baudrate, ToFcBaudrateIndex); |
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274 | UART1_PutString(msg); |
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275 | DELAY(100); |
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276 | UART1_Init(); |
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277 | } |
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278 | } else if(oldBd != 57600) UART1_PutString("\r\n No Baudrate on the SD-Card"); |
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279 | } |
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280 | |||
598 | holgerb | 281 | u8 CalculateDebugLableCrc(void) |
282 | { |
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283 | u16 i; |
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284 | u8 crc = 0; |
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285 | for(i=0;i<sizeof(ANALOG_LABEL);i++) crc += ANALOG_LABEL[0][i]; |
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286 | return(crc); |
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287 | } |
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288 | |||
41 | ingob | 289 | /********************************************************/ |
290 | /* Initialization the UART1 */ |
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291 | /********************************************************/ |
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292 | void UART1_Init (void) |
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293 | { |
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294 | GPIO_InitTypeDef GPIO_InitStructure; |
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295 | UART_InitTypeDef UART_InitStructure; |
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296 | |||
153 | killagreg | 297 | // initialize txd buffer |
298 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
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165 | killagreg | 299 | |
153 | killagreg | 300 | // initialize rxd buffer |
301 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
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302 | |||
244 | killagreg | 303 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
304 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
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153 | killagreg | 305 | |
41 | ingob | 306 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
307 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
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308 | |||
309 | /*Configure UART1_Rx pin GPIO3.2*/ |
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310 | GPIO_StructInit(&GPIO_InitStructure); |
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311 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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312 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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313 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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196 | killagreg | 314 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 315 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
316 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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317 | |||
318 | /*Configure UART1_Tx pin GPIO3.3*/ |
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319 | GPIO_StructInit(&GPIO_InitStructure); |
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320 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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321 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
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322 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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323 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
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324 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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325 | |||
675 | holgerb | 326 | // Control of PORT3.7 (FC-UART) |
327 | GPIO_StructInit(&GPIO_InitStructure); |
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328 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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329 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
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330 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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331 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; |
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332 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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333 | DISABLE_FC_UART; |
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334 | |||
41 | ingob | 335 | /* UART1 configured as follow: |
336 | - Word Length = 8 Bits |
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337 | - One Stop Bit |
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338 | - No parity |
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339 | - BaudRate = 57600 baud |
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340 | - Hardware flow control Disabled |
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341 | - Receive and transmit enabled |
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342 | - Receive and transmit FIFOs are Disabled |
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343 | */ |
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344 | UART_StructInit(&UART_InitStructure); |
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345 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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346 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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347 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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819 | holgerb | 348 | UART_InitStructure.UART_BaudRate = Uart1Baudrate; |
489 | killagreg | 349 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
41 | ingob | 350 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
487 | holgerb | 351 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
352 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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489 | killagreg | 353 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
41 | ingob | 354 | |
355 | UART_DeInit(UART1); // reset uart 1 to default |
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165 | killagreg | 356 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
41 | ingob | 357 | // enable uart 1 interrupts selective |
358 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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359 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
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136 | killagreg | 360 | // configure the uart 1 interupt line |
361 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
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244 | killagreg | 362 | // enable the uart 1 IRQ |
41 | ingob | 363 | VIC_ITCmd(UART1_ITLine, ENABLE); |
153 | killagreg | 364 | |
41 | ingob | 365 | // initialize the debug timer |
110 | killagreg | 366 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
367 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
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461 | holgerb | 368 | NMEA_Timer = SetDelay(14000); |
110 | killagreg | 369 | |
41 | ingob | 370 | // Fill Version Info Structure |
371 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
||
372 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
||
373 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
||
374 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
||
489 | killagreg | 375 | UART_VersionInfo.HWMajor = Version_HW & 0x7F; |
548 | holgerb | 376 | UART_VersionInfo.BL_Firmware = 255; |
454 | holgerb | 377 | UART_VersionInfo.Flags = 0; |
598 | holgerb | 378 | UART_VersionInfo.LabelTextCRC = CalculateDebugLableCrc(); |
89 | killagreg | 379 | NaviData.Version = NAVIDATA_VERSION; |
689 | holgerb | 380 | |
381 | PPM_In[PPM_IN_MAX] = +127; |
||
382 | PPM_In[PPM_IN_OFF] = -127; |
||
383 | PPM_In[PPM_IN_MID] = 0; |
||
384 | |||
819 | holgerb | 385 | // UART1_PutString("\r\n UART1 init...ok"); |
41 | ingob | 386 | } |
387 | |||
772 | ingob | 388 | /****************************************************************/ |
389 | /* USART1 change baudrate */ |
||
390 | /****************************************************************/ |
||
391 | void UART1_Configure(u32 baudrate) |
||
392 | { |
||
393 | UART_InitTypeDef UART_InitStructure; |
||
394 | |||
395 | UART_Cmd(UART1, DISABLE); |
||
41 | ingob | 396 | |
772 | ingob | 397 | UART_StructInit(&UART_InitStructure); |
398 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
||
399 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
||
400 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
||
401 | UART_InitStructure.UART_BaudRate = baudrate; |
||
402 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
||
403 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
||
404 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
||
405 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
||
406 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
||
407 | |||
408 | UART_DeInit(UART1); // reset uart 1 to default |
||
409 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
||
410 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
||
411 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
||
412 | } |
||
413 | |||
41 | ingob | 414 | /****************************************************************/ |
415 | /* USART1 receiver ISR */ |
||
416 | /****************************************************************/ |
||
417 | void UART1_IRQHandler(void) |
||
418 | { |
||
419 | static u8 abortState = 0; |
||
420 | u8 c; |
||
421 | |||
422 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
||
423 | { |
||
153 | killagreg | 424 | // clear the pending bits! |
41 | ingob | 425 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
426 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
||
427 | // if debug UART is not UART1 |
||
428 | if (DebugUART != UART1) |
||
429 | { // forward received data to the debug UART tx buffer |
||
430 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
||
431 | { |
||
432 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
||
433 | c = UART_ReceiveData(UART1); |
||
434 | |||
435 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
||
436 | switch (abortState) |
||
437 | { |
||
165 | killagreg | 438 | case 0: |
139 | killagreg | 439 | if (c == 27) abortState++; |
41 | ingob | 440 | break; |
165 | killagreg | 441 | case 1: |
442 | if (c == 27) abortState++; |
||
139 | killagreg | 443 | else abortState = 0; |
41 | ingob | 444 | break; |
139 | killagreg | 445 | case 2: |
165 | killagreg | 446 | if (c == 0x55) abortState++; |
139 | killagreg | 447 | else abortState = 0; |
41 | ingob | 448 | break; |
139 | killagreg | 449 | case 3: |
450 | if (c == 0xAA) abortState++; |
||
451 | else abortState = 0; |
||
41 | ingob | 452 | break; |
165 | killagreg | 453 | case 4: |
139 | killagreg | 454 | if (c == 0x00) |
455 | { |
||
456 | if(DebugUART == UART0) |
||
457 | { |
||
245 | killagreg | 458 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
179 | killagreg | 459 | TIMER2_Init(); // enbable servo outputs |
153 | killagreg | 460 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
139 | killagreg | 461 | } |
462 | DebugUART = UART1; |
||
675 | holgerb | 463 | DISABLE_FC_UART; |
165 | killagreg | 464 | } |
139 | killagreg | 465 | abortState = 0; |
466 | break; |
||
467 | } // end switch abort state |
||
136 | killagreg | 468 | // if the Debug uart is not UART1, redirect input to the Debug UART |
110 | killagreg | 469 | if (DebugUART != UART1) |
470 | { |
||
471 | // wait for space in the tx buffer of the DebugUART |
||
472 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
||
141 | killagreg | 473 | // move byte to the tx fifo of the debug uart |
110 | killagreg | 474 | UART_SendData(DebugUART, c); |
475 | } |
||
41 | ingob | 476 | } |
477 | } |
||
478 | else // DebugUART == UART1 (normal operation) |
||
479 | { |
||
110 | killagreg | 480 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
154 | killagreg | 481 | { // some byes in the hardware fifo |
153 | killagreg | 482 | // get byte from hardware fifo |
41 | ingob | 483 | c = UART_ReceiveData(UART1); |
153 | killagreg | 484 | // put into the software fifo |
485 | if(!fifo_put(&UART1_rx_fifo, c)) |
||
486 | { // fifo overflow |
||
155 | killagreg | 487 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
153 | killagreg | 488 | } |
154 | killagreg | 489 | } // EOF while some byes in the hardware fifo |
41 | ingob | 490 | } // eof DebugUart = UART1 |
491 | } |
||
195 | killagreg | 492 | |
380 | holgerb | 493 | |
494 | |||
378 | holgerb | 495 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
41 | ingob | 496 | } |
497 | |||
498 | /**************************************************************/ |
||
499 | /* Process incomming data from debug uart */ |
||
500 | /**************************************************************/ |
||
501 | void UART1_ProcessRxData(void) |
||
502 | { |
||
154 | killagreg | 503 | // return on forwarding uart or unlocked rx buffer |
380 | holgerb | 504 | u8 c; |
155 | killagreg | 505 | if(DebugUART != UART1) return; |
506 | // if rx buffer is not locked |
||
507 | if(UART1_rx_buffer.Locked == FALSE) |
||
315 | killagreg | 508 | { |
244 | killagreg | 509 | //collect data from primary rx fifo |
155 | killagreg | 510 | while(fifo_get(&UART1_rx_fifo, &c)) |
315 | killagreg | 511 | { |
244 | killagreg | 512 | // break if complete frame is collected |
155 | killagreg | 513 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
514 | } |
||
515 | } |
||
516 | if(UART1_rx_buffer.Locked == FALSE) return; |
||
517 | |||
280 | killagreg | 518 | Point_t * pPoint = NULL; |
153 | killagreg | 519 | SerialMsg_t SerialMsg; |
41 | ingob | 520 | |
190 | killagreg | 521 | // analyze header first |
522 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
||
689 | holgerb | 523 | /* |
194 | killagreg | 524 | if( SerialMsg.Address == FC_ADDRESS ) |
41 | ingob | 525 | { |
192 | killagreg | 526 | switch(SerialMsg.CmdID) |
527 | { |
||
689 | holgerb | 528 | // case 'b': // extern control |
529 | // UART1_ExternalControlConfirmFrame = 1; |
||
530 | // case 'y': // serial poti values |
||
531 | // Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
||
532 | // Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
||
533 | // return; //end process rx data |
||
192 | killagreg | 534 | break; |
535 | } |
||
195 | killagreg | 536 | } |
689 | holgerb | 537 | */ |
190 | killagreg | 538 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
539 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
||
540 | switch(SerialMsg.Address) // check for Slave Address |
||
541 | { |
||
41 | ingob | 542 | case NC_ADDRESS: // own Slave Address |
190 | killagreg | 543 | switch(SerialMsg.CmdID) |
41 | ingob | 544 | { |
833 | holgerb | 545 | case 'n':// request for the labels of the analog debug outputs |
546 | switch(SerialMsg.pData[0]) |
||
547 | { |
||
548 | case MOBILE_LABLE: |
||
549 | UART1_Request_MobileLabel = SerialMsg.pData[1]; |
||
834 | holgerb | 550 | if(UART1_Request_MobileLabel > MOBILE_MAX_MENU) UART1_Request_MobileLabel = MOBILE_MAX_MENU; |
833 | holgerb | 551 | break; |
552 | case MOBILE_MENU: |
||
553 | UART1_Request_MobileMenu = 1; |
||
554 | memcpy(&MobileDataRequest.MenuItem, &SerialMsg.pData[1],sizeof(MobileDataRequest)); // copy |
||
555 | break; |
||
556 | case MOBILE_INFO: |
||
557 | UART1_Request_MobileInfo = 1; |
||
558 | break; |
||
559 | } |
||
560 | break; |
||
561 | |||
489 | killagreg | 562 | case 't': // request for the GPS time |
447 | holgerb | 563 | UART1_Request_SystemTime = TRUE; |
564 | break; |
||
565 | |||
529 | holgerb | 566 | case 'm': // request for the license string |
567 | UART1_Request_LicenseString = SerialMsg.pData[0]; |
||
531 | holgerb | 568 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && (UART_VersionInfo.HWMajor >= 20)) |
529 | holgerb | 569 | { |
763 | holgerb | 570 | memcpy(LicensePtr, &SerialMsg.pData[1],LICENSE_SIZE_TEXT); // copy license |
571 | memcpy(&LicensePtr[460], &SerialMsg.pData[1+460],OEM_NAME_LENGHT); // copy license |
||
529 | holgerb | 572 | } |
573 | break; |
||
349 | ingob | 574 | case 'f': // ftp command |
575 | UART1_Request_FTP = SerialMsg.pData[0]; |
||
489 | killagreg | 576 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
349 | ingob | 577 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
578 | break; |
||
579 | |||
101 | holgerb | 580 | case 'z': // connection checker |
110 | killagreg | 581 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
582 | UART1_Request_Echo = TRUE; |
||
92 | killagreg | 583 | break; |
584 | |||
41 | ingob | 585 | case 'e': // request for the text of the error status |
110 | killagreg | 586 | UART1_Request_ErrorMessage = TRUE; |
41 | ingob | 587 | break; |
588 | |||
589 | case 's':// new target position |
||
280 | killagreg | 590 | pPoint = (Point_t*)SerialMsg.pData; |
591 | if(pPoint->Position.Status == NEWDATA) |
||
41 | ingob | 592 | { |
784 | holgerb | 593 | u32 start = 0; |
315 | killagreg | 594 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
300 | holgerb | 595 | //pPoint->Index = 1; // must be one after empty list |
296 | killagreg | 596 | PointList_SetAt(pPoint); |
315 | killagreg | 597 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
662 | holgerb | 598 | // GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
784 | holgerb | 599 | if(pPoint->Index) start = pPoint->Index-1; |
662 | holgerb | 600 | if(CurrentlyFlyingWaypoints) |
601 | { |
||
784 | holgerb | 602 | GPS_pWaypoint = PointList_WPBegin(start); |
662 | holgerb | 603 | NewWaypointsReceived = 0; // Only an update |
604 | } |
||
295 | killagreg | 605 | BeepTime = 50; |
41 | ingob | 606 | } |
568 | holgerb | 607 | else |
608 | if((pPoint->Position.Status == SIMULATION) && !(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN)) |
||
609 | { |
||
586 | holgerb | 610 | if(pPoint->Event_Flag & SIMULATION_MOTOR_ON) |
611 | { |
||
612 | GPSPos_Copy(&(pPoint->Position), &SimulationPosition); // update hold position |
||
613 | CompassDirectionAtMotorStart = SimulatedDirection*10; |
||
801 | holgerb | 614 | SimulationFlags = pPoint->Event_Flag | SIMULATION_MOTOR_START; // dann steht da noch nicht "SIMULATION_MOTOR_ON" drin |
586 | holgerb | 615 | } |
568 | holgerb | 616 | if(!(SimulationFlags & SIMULATION_MOTOR_ON) && (pPoint->Event_Flag & SIMULATION_MOTOR_ON)) |
617 | { |
||
618 | SimulationFlags = pPoint->Event_Flag | SIMULATION_MOTOR_START; // dann steht da noch nicht "SIMULATION_MOTOR_ON" drin |
||
619 | SpeakHoTT = SPEAK_STARTING; |
||
620 | } |
||
621 | else |
||
622 | if(!(pPoint->Event_Flag & SIMULATION_MOTOR_ON) && (SimulationFlags & SIMULATION_MOTOR_ON)) |
||
623 | { |
||
624 | SimulationFlags = pPoint->Event_Flag; |
||
625 | SpeakHoTT = SPEAK_MK_OFF; |
||
626 | BeepTime = 50; |
||
627 | } |
||
628 | else |
||
629 | SimulationFlags = pPoint->Event_Flag | (SimulationFlags & SIMULATION_MOTOR_START); |
||
630 | } |
||
41 | ingob | 631 | break; |
632 | case 'u': // redirect debug uart |
||
110 | killagreg | 633 | switch(SerialMsg.pData[0]) |
41 | ingob | 634 | { |
635 | case UART_FLIGHTCTRL: |
||
675 | holgerb | 636 | ENABLE_FC_UART; |
41 | ingob | 637 | UART2_Init(); // initialize UART2 to FC pins |
153 | killagreg | 638 | fifo_purge(&UART1_rx_fifo); |
180 | killagreg | 639 | TIMER2_Deinit(); // reduce irq load |
41 | ingob | 640 | DebugUART = UART2; |
641 | break; |
||
642 | case UART_MK3MAG: |
||
255 | killagreg | 643 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
41 | ingob | 644 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
645 | GPSData.Status = INVALID; |
||
153 | killagreg | 646 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 647 | DebugUART = UART0; |
648 | break; |
||
649 | case UART_MKGPS: |
||
255 | killagreg | 650 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
179 | killagreg | 651 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
245 | killagreg | 652 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
41 | ingob | 653 | GPSData.Status = INVALID; |
153 | killagreg | 654 | fifo_purge(&UART1_rx_fifo); |
41 | ingob | 655 | DebugUART = UART0; |
656 | break; |
||
153 | killagreg | 657 | default: |
658 | break; |
||
41 | ingob | 659 | } |
660 | break; |
||
661 | |||
295 | killagreg | 662 | case 'w':// Set point in list at index |
165 | killagreg | 663 | { |
280 | killagreg | 664 | pPoint = (Point_t*)SerialMsg.pData; |
671 | holgerb | 665 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
280 | killagreg | 666 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
224 | killagreg | 667 | { |
280 | killagreg | 668 | PointList_Clear(); |
784 | holgerb | 669 | GPS_pWaypoint = PointList_WPBegin(0); |
315 | killagreg | 670 | UART1_Request_WritePoint = 0; // return new point count |
568 | holgerb | 671 | NewWaypointsReceived = 1; |
165 | killagreg | 672 | } |
227 | killagreg | 673 | else |
295 | killagreg | 674 | { // update WP in list at index |
489 | killagreg | 675 | if(pPoint->Index > MaxNumberOfWaypoints) |
490 | killagreg | 676 | { |
677 | UART1_Request_WritePoint = 254; |
||
678 | pPoint->Index = MaxNumberOfWaypoints; |
||
679 | } |
||
680 | else UART1_Request_WritePoint = PointList_SetAt(pPoint); |
||
315 | killagreg | 681 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
519 | holgerb | 682 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
295 | killagreg | 683 | if(UART1_Request_WritePoint == pPoint->Index) |
225 | killagreg | 684 | { |
685 | BeepTime = 500; |
||
519 | holgerb | 686 | if(UART1_Request_WritePoint == 1) SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
165 | killagreg | 687 | } |
688 | } |
||
41 | ingob | 689 | } |
690 | break; |
||
691 | |||
92 | killagreg | 692 | case 'x':// Read Waypoint from List |
280 | killagreg | 693 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
671 | holgerb | 694 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
92 | killagreg | 695 | break; |
696 | |||
494 | killagreg | 697 | case 'i':// Store WP List to file |
496 | killagreg | 698 | memcpy((u8*)&WPL_Store, SerialMsg.pData, sizeof(WPL_Store_t)); |
699 | WPL_Store.Name[11] = 0; // make sure the name string is terminated |
||
497 | killagreg | 700 | WPL_Answer.Index = WPL_Store.Index; // echo Index in cmd answer |
513 | killagreg | 701 | WPL_Answer.Status = PointList_WriteToFile(&WPL_Store); |
495 | killagreg | 702 | UART1_Request_WPLStore = TRUE; |
494 | killagreg | 703 | break; |
704 | |||
852 | holgerb | 705 | case 'j': |
156 | killagreg | 706 | switch(SerialMsg.pData[0]) |
707 | { |
||
852 | holgerb | 708 | case 0: // Get NC-Parameter |
709 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
||
710 | UART1_Request_Parameter = TRUE; |
||
156 | killagreg | 711 | break; |
165 | killagreg | 712 | |
852 | holgerb | 713 | case 1: // Set NC-Parameter |
159 | killagreg | 714 | { |
715 | s16 value; |
||
716 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
||
717 | NCParams_SetValue(SerialMsg.pData[1], &value); |
||
852 | holgerb | 718 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
719 | UART1_Request_Parameter = TRUE; |
||
159 | killagreg | 720 | } |
156 | killagreg | 721 | break; |
852 | holgerb | 722 | case 3: // Get Mission-Parameter |
723 | UART1_Request_MissonParameter = SerialMsg.pData[0]; |
||
724 | break; |
||
725 | |||
726 | case 4: // Set Mission-Parameter |
||
727 | memcpy(&WP_MissionParameter, &SerialMsg.pData[1], sizeof(WP_MissionParameter)); |
||
728 | UART1_Request_MissonParameter = SerialMsg.pData[0]; // answer request with 4 |
||
871 | holgerb | 729 | WP_MissionParameter.Flags |= MISSION_DATA_RECEIVED; |
852 | holgerb | 730 | break; |
731 | case 5: // stop all abbos |
||
732 | StopAllAbbos = 1; |
||
733 | break; |
||
734 | |||
156 | killagreg | 735 | default: |
165 | killagreg | 736 | break; |
156 | killagreg | 737 | } |
738 | break; |
||
41 | ingob | 739 | default: |
740 | // unsupported command recieved |
||
741 | break; |
||
742 | } // case NC_ADDRESS |
||
65 | killagreg | 743 | // "break;" is missing here to fall thru to the common commands |
41 | ingob | 744 | |
745 | default: // and any other Slave Address |
||
746 | |||
190 | killagreg | 747 | switch(SerialMsg.CmdID) // check CmdID |
41 | ingob | 748 | { |
749 | case 'a':// request for the labels of the analog debug outputs |
||
110 | killagreg | 750 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
751 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
||
41 | ingob | 752 | break; |
833 | holgerb | 753 | |
41 | ingob | 754 | case 'b': // submit extern control |
121 | killagreg | 755 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
112 | killagreg | 756 | UART1_ConfirmFrame = ExternControl.Frame; |
689 | holgerb | 757 | NewExternalControlFrame = 1; |
41 | ingob | 758 | break; |
689 | holgerb | 759 | |
760 | case 'y': // serial Channels |
||
761 | memcpy(&SerialChannel, SerialMsg.pData, sizeof(SerialChannel)); |
||
762 | memcpy((u8 *) &(PPM_In[SERIAL_POTI_START]), (u8 *) &SerialChannel, 12); // copy the 12 Bytes Serial Channels into the PPM_In array |
||
763 | NewSerialChannelFrame = 1; |
||
764 | break; |
||
765 | |||
766 | case 'g':// request for the externalControl |
||
767 | UART1_Request_ExternalControl = TRUE; |
||
768 | break; |
||
769 | |||
770 | case 'p':// request for the PPM_In |
||
771 | UART1_Request_PPM_Channels = TRUE; |
||
772 | break; |
||
773 | |||
41 | ingob | 774 | case 'd': // request for debug data; |
110 | killagreg | 775 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
776 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
||
198 | killagreg | 777 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
41 | ingob | 778 | break; |
779 | |||
63 | killagreg | 780 | case 'c': // request for 3D data; |
110 | killagreg | 781 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
782 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
||
198 | killagreg | 783 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
63 | killagreg | 784 | break; |
275 | killagreg | 785 | |
358 | holgerb | 786 | case 'k': // request for Motor data; |
787 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
||
788 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
||
789 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
||
790 | break; |
||
791 | |||
41 | ingob | 792 | case 'h':// reqest for display line |
193 | killagreg | 793 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
794 | { |
||
795 | UART1_DisplayLine = 2; |
||
195 | killagreg | 796 | UART1_Display_Interval = 0; |
598 | holgerb | 797 | UART1_Request_Display = TRUE; |
193 | killagreg | 798 | } |
799 | else |
||
800 | { |
||
201 | killagreg | 801 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
193 | killagreg | 802 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
803 | UART1_DisplayLine = 4; |
||
198 | killagreg | 804 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
598 | holgerb | 805 | if(UART1_Display_Interval) UART1_Request_Display = TRUE; |
193 | killagreg | 806 | } |
41 | ingob | 807 | break; |
808 | |||
809 | case 'l':// reqest for display columns |
||
110 | killagreg | 810 | MenuItem = SerialMsg.pData[0]; |
811 | UART1_Request_Display1 = TRUE; |
||
41 | ingob | 812 | break; |
64 | holgerb | 813 | |
814 | case 'o': // request for navigation information |
||
820 | holgerb | 815 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; // PC sends: 10 = 100ms or 20 = 200 (since 2.19) |
816 | if(SerialMsg.DataLen > 2) UART1_NaviData_MaxBytes = SerialMsg.pData[1] * 256 + SerialMsg.pData[2]; // PC sends: 4 & 0 = 1024 Bytes per second and 150 if TX-Limiting is active |
||
598 | holgerb | 817 | else UART1_NaviData_MaxBytes = 0; |
110 | killagreg | 818 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
198 | killagreg | 819 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
820 | holgerb | 820 | if(UART1_NaviData_Interval && UART1_NaviData_Interval < 100) UART1_NaviData_Interval = 100; |
64 | holgerb | 821 | break; |
822 | |||
41 | ingob | 823 | case 'v': // request for version info |
548 | holgerb | 824 | if(SerialMsg.DataLen > 0 && SerialMsg.pData[0] == 1) UART1_Request_VersionInfo = 1; |
825 | else UART1_Request_VersionInfo = 2; |
||
41 | ingob | 826 | break; |
827 | default: |
||
828 | // unsupported command recieved |
||
829 | break; |
||
830 | } |
||
831 | break; // default: |
||
832 | } |
||
153 | killagreg | 833 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
41 | ingob | 834 | } |
835 | |||
836 | |||
837 | /*****************************************************/ |
||
838 | /* Send a character */ |
||
839 | /*****************************************************/ |
||
110 | killagreg | 840 | s16 UART1_Putchar(char c) |
41 | ingob | 841 | { |
362 | holgerb | 842 | u32 timeout = 10000; |
813 | holgerb | 843 | if(DebugUART != UART1) return(0); |
110 | killagreg | 844 | if (c == '\n') UART1_Putchar('\r'); |
41 | ingob | 845 | // wait until txd fifo is not full |
362 | holgerb | 846 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
41 | ingob | 847 | // transmit byte |
848 | UART_SendData(UART1, c); |
||
314 | killagreg | 849 | #ifdef FOLLOW_ME |
850 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
||
851 | #endif |
||
41 | ingob | 852 | return (0); |
853 | } |
||
854 | |||
855 | /*****************************************************/ |
||
856 | /* Send a string to the debug uart */ |
||
857 | /*****************************************************/ |
||
110 | killagreg | 858 | void UART1_PutString(u8 *s) |
41 | ingob | 859 | { |
813 | holgerb | 860 | if(DebugUART != UART1) return; |
41 | ingob | 861 | if(s == NULL) return; |
813 | holgerb | 862 | while (*s != '\0') |
41 | ingob | 863 | { |
110 | killagreg | 864 | UART1_Putchar(*s); |
41 | ingob | 865 | s ++; |
866 | } |
||
867 | } |
||
868 | |||
113 | killagreg | 869 | |
110 | killagreg | 870 | /**************************************************************/ |
871 | /* Transmit tx buffer via debug uart */ |
||
872 | /**************************************************************/ |
||
873 | void UART1_Transmit(void) |
||
874 | { |
||
875 | u8 tmp_tx; |
||
876 | if(DebugUART != UART1) return; |
||
877 | // if something has to be send and the txd fifo is not full |
||
113 | killagreg | 878 | if(UART1_tx_buffer.Locked == TRUE) |
110 | killagreg | 879 | { |
113 | killagreg | 880 | // while there is some space in the tx fifo |
881 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
||
110 | killagreg | 882 | { |
113 | killagreg | 883 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
884 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
||
314 | killagreg | 885 | #ifdef FOLLOW_ME |
315 | killagreg | 886 | if(TransmitAlsoToFC) |
887 | { |
||
314 | killagreg | 888 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
889 | } |
||
890 | #endif |
||
113 | killagreg | 891 | // if terminating character or end of txd buffer reached |
461 | holgerb | 892 | if((tmp_tx == '\0') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
113 | killagreg | 893 | { |
894 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
||
314 | killagreg | 895 | #ifdef FOLLOW_ME |
896 | TransmitAlsoToFC = 0; |
||
897 | #endif |
||
113 | killagreg | 898 | break; // end while loop |
899 | } |
||
110 | killagreg | 900 | } |
901 | } |
||
902 | } |
||
41 | ingob | 903 | |
460 | holgerb | 904 | //$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
905 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
||
906 | //$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C |
||
466 | holgerb | 907 | //http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm |
576 | holgerb | 908 | |
460 | holgerb | 909 | void CreateNmeaGGA(void) |
910 | { |
||
489 | killagreg | 911 | u8 array[200], i = 0, crc = 0, x; |
912 | s32 tmp1, tmp2; |
||
378 | holgerb | 913 | |
489 | killagreg | 914 | i += sprintf(array, "$GPGGA,"); |
915 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
916 | if(SystemTime.Valid) |
||
917 | { |
||
918 | i += sprintf(&array[i], "%02d%02d%02d.%02d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec/10); |
||
919 | } |
||
920 | else |
||
921 | { |
||
922 | i += sprintf(&array[i], ","); |
||
923 | } |
||
924 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
925 | if(GPSData.Flags & FLAG_GPSFIXOK) |
||
926 | { |
||
927 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
||
928 | i += sprintf(&array[i],"%02d",(s16)tmp1); |
||
460 | holgerb | 929 | |
489 | killagreg | 930 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
931 | tmp1 *= 6; // in Minuten |
||
932 | tmp2 = tmp1 / 1000000L; |
||
576 | holgerb | 933 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
489 | killagreg | 934 | tmp2 = tmp1 % 1000000L; |
576 | holgerb | 935 | tmp2 /= 100; // zwei Stellen zu viel |
936 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
||
460 | holgerb | 937 | |
489 | killagreg | 938 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
939 | else i += sprintf(&array[i],"S,"); |
||
940 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
460 | holgerb | 941 | |
489 | killagreg | 942 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
576 | holgerb | 943 | i += sprintf(&array[i],"%03d", (u16)tmp1); |
460 | holgerb | 944 | |
489 | killagreg | 945 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
946 | tmp1 *= 6; // in Minuten |
||
947 | tmp2 = tmp1 / 1000000L; |
||
576 | holgerb | 948 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
489 | killagreg | 949 | tmp2 = tmp1 % 1000000L; |
576 | holgerb | 950 | tmp2 /= 100; // zwei Stellen zu viel |
951 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
||
460 | holgerb | 952 | |
953 | |||
489 | killagreg | 954 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
955 | else i += sprintf(&array[i],"W,"); |
||
956 | i += sprintf(&array[i],"%d,",GPSData.SatFix); |
||
957 | i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
||
958 | i += sprintf(&array[i],"%d.%d,",(s16)(GPSData.Position_Accuracy/100),abs(GPSData.Position_Accuracy%100)); |
||
959 | // i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
||
739 | holgerb | 960 | tmp1 = NaviData.Altimeter_5cm / 2; // in dm |
489 | killagreg | 961 | i += sprintf(&array[i],"%d.%d,M,",(s16)tmp1 / 10,abs((s16)tmp1 % 10)); |
962 | i += sprintf(&array[i],",,,*"); |
||
963 | } |
||
964 | else |
||
965 | { |
||
966 | i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats); |
||
967 | } |
||
968 | for(x = 1; x < i-1; x++) |
||
969 | { |
||
970 | crc ^= array[x]; |
||
971 | } |
||
972 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
||
973 | AddSerialData(&UART1_tx_buffer,array,i); |
||
974 | |||
975 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
466 | holgerb | 976 | } |
977 | |||
978 | //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
||
979 | //$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP |
||
980 | |||
981 | void CreateNmeaRMC(void) |
||
982 | { |
||
489 | killagreg | 983 | u8 array[200], i = 0, crc = 0, x; |
984 | s16 tmp_int; |
||
985 | s32 tmp1, tmp2; |
||
986 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
987 | i += sprintf(array, "$GPRMC,"); |
||
988 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
989 | if(SystemTime.Valid) |
||
990 | { |
||
991 | i += sprintf(&array[i], "%02d%02d%02d.%03d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
||
992 | } |
||
993 | else |
||
994 | { |
||
995 | i += sprintf(&array[i], ","); |
||
996 | } |
||
997 | if(GPSData.Flags & FLAG_GPSFIXOK) |
||
998 | { |
||
999 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
1000 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
||
1001 | i += sprintf(&array[i],"A,%02d", (s16)tmp1); // Status: A = Okay V = Warnung |
||
483 | holgerb | 1002 | |
489 | killagreg | 1003 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
1004 | tmp1 *= 6; // in Minuten |
||
1005 | tmp2 = tmp1 / 1000000L; |
||
1006 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
||
1007 | tmp2 = tmp1 % 1000000L; |
||
576 | holgerb | 1008 | tmp2 /= 100; // zwei Stellen zu viel |
1009 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
||
489 | killagreg | 1010 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
1011 | else i += sprintf(&array[i],"S,"); |
||
1012 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
1013 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
||
1014 | i += sprintf(&array[i],"%03d", (s16)tmp1); |
||
483 | holgerb | 1015 | |
489 | killagreg | 1016 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
1017 | tmp1 *= 6; // in Minuten |
||
1018 | tmp2 = tmp1 / 1000000L; |
||
1019 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
||
1020 | tmp2 = tmp1 % 1000000L; |
||
576 | holgerb | 1021 | tmp2 /= 100; // zwei Stellen zu viel |
1022 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
||
489 | killagreg | 1023 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
1024 | else i += sprintf(&array[i],"W,"); |
||
1025 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
1026 | tmp_int = GPSData.Speed_Ground; // in cm/sek |
||
1027 | tmp_int *= 90; |
||
1028 | tmp_int /= 463; |
||
1029 | i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten |
||
1030 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
1031 | i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10); |
||
1032 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
1033 | if(SystemTime.Valid) |
||
1034 | { |
||
1035 | i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year); |
||
1036 | } |
||
1037 | else |
||
1038 | { |
||
1039 | i += sprintf(&array[i], ","); |
||
1040 | } |
||
1041 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
1042 | i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
||
1043 | if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,"); |
||
1044 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
576 | holgerb | 1045 | if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D*"); |
1046 | else i += sprintf(&array[i], "A*"); |
||
489 | killagreg | 1047 | } |
1048 | else // kein Satfix |
||
1049 | { |
||
1050 | i += sprintf(&array[i], "V,,,,,,,,,,N*"); |
||
1051 | } |
||
1052 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
1053 | // CRC |
||
1054 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
1055 | for(x=1; x<i-1; x++) |
||
1056 | { |
||
1057 | crc ^= array[x]; |
||
1058 | } |
||
1059 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
||
1060 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
1061 | AddSerialData(&UART1_tx_buffer,array,i); |
||
1062 | // +++++++++++++++++++++++++++++++++++++++++++ |
||
1063 | /* |
||
460 | holgerb | 1064 | |
1065 | |||
1066 | |||
489 | killagreg | 1067 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
1068 | GPSData.NumOfSats = UbxSol.numSV; |
||
1069 | GPSData.SatFix = UbxSol.GPSfix; |
||
1070 | GPSData.Position_Accuracy = UbxSol.PAcc; |
||
1071 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
||
1072 | SetGPSTime(&SystemTime); // update system time |
||
1073 | // NAV POSLLH |
||
1074 | GPSData.Position.Status = INVALID; |
||
1075 | GPSData.Position.Longitude = UbxPosLlh.LON; |
||
1076 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
||
1077 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
||
1078 | GPSData.Position.Status = NEWDATA; |
||
1079 | // NAV VELNED |
||
1080 | GPSData.Speed_East = UbxVelNed.VEL_E; |
||
1081 | GPSData.Speed_North = UbxVelNed.VEL_N; |
||
1082 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
||
1083 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
||
1084 | GPSData.Heading = UbxVelNed.Heading; |
||
1085 | SystemTime.Year = 0; |
||
1086 | SystemTime.Month = 0; |
||
1087 | SystemTime.Day = 0; |
||
1088 | SystemTime.Hour = 0; |
||
1089 | SystemTime.Min = 0; |
||
1090 | SystemTime.Sec = 0; |
||
1091 | SystemTime.mSec = 0; |
||
1092 | SystemTime.Valid = 0; |
||
460 | holgerb | 1093 | |
489 | killagreg | 1094 | FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2; |
1095 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
||
1096 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
||
1097 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
||
1098 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
||
460 | holgerb | 1099 | |
489 | killagreg | 1100 | |
1101 | |||
1102 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
||
1103 | i1 *= 100; |
||
1104 | i1 += i2 / 100000; |
||
1105 | i2 = i2 % 100000; |
||
1106 | i2 /= 10; |
||
1107 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
||
1108 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
||
1109 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
||
1110 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
||
1111 | break; |
||
1112 | case 1: |
||
1113 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
||
1114 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
||
1115 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
||
1116 | //----------------------------- |
||
1117 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
||
1118 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
||
1119 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
||
1120 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
||
1121 | |||
460 | holgerb | 1122 | */ |
1123 | } |
||
1124 | |||
620 | holgerb | 1125 | u16 SendTriggerPos(void) |
1126 | { |
||
1127 | u16 sent = 0; |
||
1128 | NaviData_Out1Trigger.Index = 18; |
||
1129 | sent = MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Out1Trigger, sizeof(NaviData_Out1Trigger)) + 1; |
||
765 | holgerb | 1130 | if(sent) Out1TriggerUpdateNewData = 0; |
620 | holgerb | 1131 | // BeepTime = 50; // beep |
1132 | return(sent); |
||
1133 | } |
||
460 | holgerb | 1134 | |
620 | holgerb | 1135 | |
599 | holgerb | 1136 | u16 TransmitNavigationData(u16 MaxBytesPerSecond, u8 clear) // returns the minumum pause time in ms |
598 | holgerb | 1137 | { |
824 | holgerb | 1138 | static u8 state = 0, count_flags = 2, count_target = 3, count_home = 4, count_wp = 5 , count_tiny = 6, count_fs = 7, count_txt = 5; |
1139 | static u16 CRC_Home = 0, CRC_Target = 0, CRC_Flags = 0, CRC_Wp = 0, CRC_Fs = 0, CRC_Txt = 0, crc_Tiny = 0; |
||
1140 | u16 pause, sent = 0, crc_home, crc_target, crc_flags, crc_wp, crc_fs, crc_txt; |
||
598 | holgerb | 1141 | |
599 | holgerb | 1142 | if(clear) |
1143 | { |
||
1144 | state = 0; |
||
1145 | CRC_Home++; |
||
1146 | CRC_Target++; |
||
1147 | CRC_Flags++; |
||
1148 | CRC_Wp++; |
||
1149 | CRC_Fs++; |
||
637 | holgerb | 1150 | if(ErrorCode) NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; |
1151 | else NaviData_Flags.SpeakHoTT = SPEAK_CONNECTED; |
||
1152 | NaviData_Flags_SpeakHoTT_Processed = 0; // don't overwrite in SPI.C |
||
599 | holgerb | 1153 | return(1); |
1154 | } |
||
598 | holgerb | 1155 | while(!sent) |
1156 | { |
||
620 | holgerb | 1157 | // 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 |
1158 | // sent += SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
||
1159 | |||
598 | holgerb | 1160 | switch(state++) |
1161 | { |
||
852 | holgerb | 1162 | case 0: if(LaserCtrlTimeout > 0) // send only, if LaserCtrl is connected |
1163 | { |
||
1164 | NaviData_Laser.Index = 20; |
||
1165 | NaviData_Laser.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1166 | NaviData_Laser.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
1167 | NaviData_Laser.Altimeter_5cm = NaviData.Altimeter_5cm; |
||
1168 | NaviData_Laser.GroundSpeed = NaviData.GroundSpeed / 10; |
||
1169 | NaviData_Laser.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
1170 | NaviData_Laser.Distance = FromLaserCtrl.Distance; |
||
1171 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Laser, sizeof(NaviData_Laser)) + 1; |
||
1172 | break; |
||
1173 | } |
||
608 | holgerb | 1174 | case 6: |
620 | holgerb | 1175 | case 5: |
598 | holgerb | 1176 | // belegt 35 ASCII-Zeichen |
1177 | NaviData_Flags.Index = 11; |
||
1178 | NaviData_Flags.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1179 | NaviData_Flags.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
739 | holgerb | 1180 | NaviData_Flags.Altimeter_5cm = NaviData.Altimeter_5cm; |
598 | holgerb | 1181 | NaviData_Flags.GroundSpeed = NaviData.GroundSpeed / 10; |
1182 | NaviData_Flags.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
1183 | NaviData_Flags.OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2); |
||
1184 | NaviData_Flags.NCFlags = NaviData.NCFlags; |
||
1185 | NaviData_Flags.Errorcode = ErrorCode; |
||
1186 | NaviData_Flags.ReserveFlags = 0; |
||
624 | holgerb | 1187 | //NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; -> in SPI.c |
598 | holgerb | 1188 | NaviData_Flags.VarioCharacter = FromFC_VarioCharacter; |
1189 | NaviData_Flags.GPS_ModeCharacter = NC_GPS_ModeCharacter; |
||
1190 | NaviData_Flags.BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
||
763 | holgerb | 1191 | crc_flags = CRC16((unsigned char*)(&NaviData_Flags.OSDStatusFlags2), sizeof(NaviData_Flags) - START_PAYLOAD_DATA); |
598 | holgerb | 1192 | if((crc_flags != CRC_Flags) || (--count_flags == 0)) |
1193 | { |
||
1194 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Flags, sizeof(NaviData_Flags)) + 1; |
||
1195 | CRC_Flags = crc_flags; |
||
1196 | count_flags = 11*2; |
||
1197 | } |
||
626 | holgerb | 1198 | NaviData_Flags_SpeakHoTT_Processed = 1; // allow update in SPI now |
598 | holgerb | 1199 | break; |
1200 | case 1: |
||
608 | holgerb | 1201 | case 7: |
598 | holgerb | 1202 | // belegt 43 ASCII-Zeichen |
1203 | NaviData_Target.Index = 12; |
||
1204 | NaviData_Target.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1205 | NaviData_Target.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
739 | holgerb | 1206 | NaviData_Target.Altimeter_5cm = NaviData.Altimeter_5cm; |
598 | holgerb | 1207 | NaviData_Target.GroundSpeed = NaviData.GroundSpeed / 10; |
1208 | NaviData_Target.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
1209 | NaviData_Target.TargetLongitude = NaviData.TargetPosition.Longitude; |
||
1210 | NaviData_Target.TargetLatitude = NaviData.TargetPosition.Latitude; |
||
1211 | NaviData_Target.TargetAltitude = NaviData.TargetPosition.Altitude; |
||
1212 | NaviData_Target.RC_Quality = NaviData.RC_Quality; |
||
763 | holgerb | 1213 | crc_target = CRC16((unsigned char*)(&NaviData_Target.TargetLongitude), sizeof(NaviData_Target) - START_PAYLOAD_DATA); |
598 | holgerb | 1214 | if((crc_target != CRC_Target) || (--count_target == 0)) |
1215 | { |
||
1216 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Target, sizeof(NaviData_Target)) + 1; |
||
1217 | CRC_Target = crc_target; |
||
1218 | count_target = 10*2; |
||
1219 | } |
||
1220 | break; |
||
1221 | case 2: |
||
608 | holgerb | 1222 | case 8: |
598 | holgerb | 1223 | // belegt 31 ASCII-Zeichen |
1224 | NaviData_WP.Index = 15; |
||
1225 | NaviData_WP.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1226 | NaviData_WP.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
739 | holgerb | 1227 | NaviData_WP.Altimeter_5cm = NaviData.Altimeter_5cm; |
598 | holgerb | 1228 | NaviData_WP.GroundSpeed = NaviData.GroundSpeed / 10; |
1229 | NaviData_WP.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
1230 | NaviData_WP.WaypointIndex = NaviData.WaypointIndex; |
||
1231 | NaviData_WP.WaypointNumber = NaviData.WaypointNumber; |
||
1232 | NaviData_WP.TargetHoldTime = NaviData.TargetHoldTime; |
||
1233 | // NaviData_WP.WP_Eventchannel = FC_WP_EventChannel; -> happends already in SPI.c |
||
763 | holgerb | 1234 | crc_wp = CRC16((unsigned char*)(&NaviData_WP.WaypointIndex), sizeof(NaviData_WP) - START_PAYLOAD_DATA); // update crc |
598 | holgerb | 1235 | if((crc_wp != CRC_Wp) || (--count_wp == 0)) |
1236 | { |
||
1237 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_WP, sizeof(NaviData_WP)) + 1; |
||
1238 | CRC_Wp = crc_wp; |
||
1239 | count_wp = 12*2; |
||
1240 | } |
||
1241 | break; |
||
1242 | case 3: |
||
608 | holgerb | 1243 | case 9: |
620 | holgerb | 1244 | // 35 ASCII-Zeichen |
599 | holgerb | 1245 | NaviData_Failsafe.Index = 17; |
1246 | NaviData_Failsafe.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1247 | NaviData_Failsafe.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
739 | holgerb | 1248 | NaviData_Failsafe.Altimeter_5cm = NaviData.Altimeter_5cm; |
599 | holgerb | 1249 | NaviData_Failsafe.GroundSpeed = NaviData.GroundSpeed / 10; |
1250 | NaviData_Failsafe.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
608 | holgerb | 1251 | NaviData_Failsafe.Longitude = GPS_FailsafePosition.Longitude; |
1252 | NaviData_Failsafe.Latitude = GPS_FailsafePosition.Latitude; |
||
789 | holgerb | 1253 | crc_fs = CRC16((unsigned char*)(&NaviData_Failsafe.Longitude), sizeof(NaviData_FS_Pos_t) - START_PAYLOAD_DATA); // update crc for the structure |
599 | holgerb | 1254 | if((crc_fs != CRC_Fs) || (--count_fs == 0)) |
1255 | { |
||
1256 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Failsafe, sizeof(NaviData_Failsafe)) + 1; |
||
1257 | CRC_Fs = crc_fs; |
||
1258 | count_fs = 20*2; |
||
1259 | } |
||
1260 | break; |
||
1261 | case 4: |
||
608 | holgerb | 1262 | case 10: |
598 | holgerb | 1263 | // belegt 43 ASCII-Zeichen |
1264 | NaviData_Home.Index = 13; |
||
1265 | NaviData_Home.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1266 | NaviData_Home.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
739 | holgerb | 1267 | NaviData_Home.Altimeter_5cm = NaviData.Altimeter_5cm; |
598 | holgerb | 1268 | NaviData_Home.GroundSpeed = NaviData.GroundSpeed / 10; |
1269 | NaviData_Home.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
1270 | NaviData_Home.HomeLongitude = NaviData.HomePosition.Longitude; |
||
1271 | NaviData_Home.HomeLatitude = NaviData.HomePosition.Latitude; |
||
1272 | NaviData_Home.HomeAltitude = NaviData.HomePosition.Altitude; |
||
622 | holgerb | 1273 | NaviData_Home.WP_OperatingRadius = MaxWP_Radius_in_m; |
807 | holgerb | 1274 | // ++++++++++++++ |
1275 | // + Fix Type |
||
1276 | // ++++++++++++++ |
||
1277 | if(!(GPSData.Flags & FLAG_GPSFIXOK)) NaviData_Home.OSDStatusFlags3 = (NaviData_Home.OSDStatusFlags3 & 0xf8) | OSD_FIX_NONE; |
||
1278 | else |
||
1279 | if(GPSData.SatFix == SATFIX_2D) NaviData_Home.OSDStatusFlags3 = (NaviData_Home.OSDStatusFlags3 & 0xf8) | OSD_FIX_2D; |
||
1280 | else |
||
1281 | if(GPSData.Flags & FLAG_DIFFSOLN) NaviData_Home.OSDStatusFlags3 = (NaviData_Home.OSDStatusFlags3 & 0xf8) | OSD_FIX_DGPS; |
||
1282 | else |
||
1283 | if(GPSData.SatFix == SATFIX_3D) NaviData_Home.OSDStatusFlags3 = (NaviData_Home.OSDStatusFlags3 & 0xf8) | OSD_FIX_3D; |
||
1284 | // ++++++++++++++ |
||
1285 | if(BlitzSchuhConnected) NaviData_Home.OSDStatusFlags3 |= OSD3_FLAG_HOTSHOE; else NaviData_Home.OSDStatusFlags3 &= ~OSD3_FLAG_HOTSHOE; |
||
1286 | // ++++++++++++++ |
||
1287 | if(FC.StatusFlags3 & FC_STATUS3_BOAT) NaviData_Home.OSDStatusFlags3 |= OSD3_FLAG_BOAT_MODE; else NaviData_Home.OSDStatusFlags3 &= ~OSD3_FLAG_BOAT_MODE; |
||
1288 | // ++++++++++++++ |
||
830 | holgerb | 1289 | if(!(FC.StatusFlags3 & FC_STATUS3_NOT_CALIBRATED) && !ErrorCode && !Partner.ErrorCode && (NCFlags & NC_FLAG_GPS_OK)) |
1290 | NaviData_Home.OSDStatusFlags3 |= OSD3_FLAG_MK_IS_READY; else NaviData_Home.OSDStatusFlags3 &= ~OSD3_FLAG_MK_IS_READY; |
||
1291 | // ++++++++++++++ |
||
763 | holgerb | 1292 | crc_home = CRC16((unsigned char*)(&NaviData_Home.HomeLongitude), sizeof(NaviData_Home_t) - START_PAYLOAD_DATA); // update crc for the structure |
598 | holgerb | 1293 | if((crc_home != CRC_Home) || (--count_home == 0)) |
1294 | { |
||
1295 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Home, sizeof(NaviData_Home)) + 1; |
||
1296 | CRC_Home = crc_home; |
||
1297 | count_home = 25; |
||
1298 | } |
||
1299 | break; |
||
620 | holgerb | 1300 | case 11: |
598 | holgerb | 1301 | // belegt 39 ASCII-Zeichen |
1302 | NaviData_Deviation.Index = 14; |
||
1303 | NaviData_Deviation.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1304 | NaviData_Deviation.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
739 | holgerb | 1305 | NaviData_Deviation.Altimeter_5cm = NaviData.Altimeter_5cm; |
598 | holgerb | 1306 | NaviData_Deviation.GroundSpeed = NaviData.GroundSpeed / 10; |
1307 | NaviData_Deviation.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
1308 | NaviData_Deviation.FlyingTime = NaviData.FlyingTime; |
||
737 | holgerb | 1309 | NaviData_Deviation.DistanceToHome = NaviData.HomePositionDeviation.Distance_dm; |
598 | holgerb | 1310 | NaviData_Deviation.HeadingToHome = NaviData.HomePositionDeviation.Bearing/2; |
737 | holgerb | 1311 | NaviData_Deviation.DistanceToTarget = NaviData.TargetPositionDeviation.Distance_dm; |
598 | holgerb | 1312 | NaviData_Deviation.HeadingToTarget = NaviData.TargetPositionDeviation.Bearing/2; |
1313 | NaviData_Deviation.AngleNick = NaviData.AngleNick; |
||
1314 | NaviData_Deviation.AngleRoll = NaviData.AngleRoll; |
||
1315 | NaviData_Deviation.SatsInUse = NaviData.SatsInUse; |
||
1316 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Deviation, sizeof(NaviData_Deviation)) + 1; |
||
1317 | break; |
||
620 | holgerb | 1318 | case 12: |
598 | holgerb | 1319 | // belegt 43 ASCII-Zeichen |
1320 | NaviData_Volatile.Index = 16; |
||
1321 | NaviData_Volatile.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1322 | NaviData_Volatile.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
739 | holgerb | 1323 | NaviData_Volatile.Altimeter_5cm = NaviData.Altimeter_5cm; |
598 | holgerb | 1324 | NaviData_Volatile.GroundSpeed = NaviData.GroundSpeed / 10; |
1325 | NaviData_Volatile.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
1326 | NaviData_Volatile.UBat = FC.BAT_Voltage; |
||
1327 | NaviData_Volatile.Current = NaviData.Current; |
||
1328 | NaviData_Volatile.UsedCapacity = NaviData.UsedCapacity; |
||
1329 | NaviData_Volatile.Variometer = NaviData.Variometer; |
||
1330 | NaviData_Volatile.Heading = NaviData.Heading / 2; |
||
1331 | NaviData_Volatile.CompassHeading = NaviData.CompassHeading / 2; |
||
1332 | NaviData_Volatile.Gas = NaviData.Gas; |
||
599 | holgerb | 1333 | NaviData_Volatile.SetpointAltitude = NaviData.SetpointAltitude; |
598 | holgerb | 1334 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Volatile, sizeof(NaviData_Volatile)) + 1; |
1335 | break; |
||
620 | holgerb | 1336 | case 13: |
598 | holgerb | 1337 | // belegt 27 ASCII-Zeichen |
1338 | NaviData_Tiny.Index = 10; |
||
1339 | NaviData_Tiny.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1340 | NaviData_Tiny.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
739 | holgerb | 1341 | NaviData_Tiny.Altimeter_5cm = NaviData.Altimeter_5cm; |
598 | holgerb | 1342 | NaviData_Tiny.GroundSpeed = NaviData.GroundSpeed / 10; |
1343 | NaviData_Tiny.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
732 | holgerb | 1344 | NaviData_Tiny.CamCtrlChar = CamCtrlCharacter; |
1345 | if((crc_Tiny != NaviData_Tiny.CamCtrlChar) || (--count_tiny == 0)) |
||
598 | holgerb | 1346 | { |
1347 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Tiny, sizeof(NaviData_Tiny)) + 1; |
||
608 | holgerb | 1348 | count_tiny = 200; // just to make sure that it comes sometimes |
732 | holgerb | 1349 | crc_Tiny = NaviData_Tiny.CamCtrlChar; |
598 | holgerb | 1350 | } |
1351 | break; |
||
824 | holgerb | 1352 | case 14: |
1353 | // 55 ASCII-Zeichen |
||
1354 | NaviData_HoTT_Text.Index = 19; |
||
1355 | NaviData_HoTT_Text.ActualLongitude = NaviData.CurrentPosition.Longitude; |
||
1356 | NaviData_HoTT_Text.ActualLatitude = NaviData.CurrentPosition.Latitude; |
||
1357 | NaviData_HoTT_Text.Altimeter_5cm = NaviData.Altimeter_5cm; |
||
1358 | NaviData_HoTT_Text.GroundSpeed = NaviData.GroundSpeed / 10; |
||
1359 | NaviData_HoTT_Text.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
||
843 | holgerb | 1360 | NaviData_HoTT_Text.MagnetField = (u16) (EarthMagneticField/5); |
824 | holgerb | 1361 | crc_txt = CRC16((unsigned char*)(&NaviData_HoTT_Text.HoTT_DisplayText), sizeof(NaviData_HoTT_Text_t) - START_PAYLOAD_DATA); // update crc for the structure |
1362 | if((crc_txt != CRC_Txt) || (--count_txt == 0)) |
||
1363 | { |
||
1364 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_HoTT_Text, sizeof(NaviData_HoTT_Text)) + 1; |
||
1365 | CRC_Txt = crc_txt; |
||
1366 | count_txt = 50; |
||
1367 | } |
||
1368 | break; |
||
1369 | |||
1370 | |||
598 | holgerb | 1371 | default: state = 0; |
1372 | break; |
||
1373 | } |
||
1374 | } |
||
1375 | pause = (sent * 1000) / MaxBytesPerSecond; |
||
1376 | |||
1377 | UART1_Request_NaviData = FALSE; |
||
1378 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
||
1379 | return(pause); |
||
1380 | // Clear at timeout: |
||
1381 | // NaviData_WP.WP_Eventchannel |
||
1382 | } |
||
1383 | |||
41 | ingob | 1384 | /**************************************************************/ |
1385 | /* Send the answers to incomming commands at the debug uart */ |
||
1386 | /**************************************************************/ |
||
1387 | void UART1_TransmitTxData(void) |
||
1388 | { |
||
358 | holgerb | 1389 | static u8 motorindex1 = 255, motorindex2 = 0; |
110 | killagreg | 1390 | if(DebugUART != UART1) return; |
198 | killagreg | 1391 | |
852 | holgerb | 1392 | if(CheckDelay(UART1_AboTimeOut) || StopAllAbbos) |
198 | killagreg | 1393 | { |
1394 | UART1_DebugData_Interval = 0; |
||
1395 | UART1_NaviData_Interval = 0; |
||
598 | holgerb | 1396 | UART1_NaviData_MaxBytes = 0; |
198 | killagreg | 1397 | UART1_Data3D_Interval = 0; |
1398 | UART1_Display_Interval = 0; |
||
378 | holgerb | 1399 | UART1_MotorData_Interval = 0; |
598 | holgerb | 1400 | UART1_NaviData_Timer = SetDelay(500); |
833 | holgerb | 1401 | UART1_AboTimeOut = SetDelay(1000); |
1402 | UART1_MobileMenu_Timer = 0; |
||
599 | holgerb | 1403 | TransmitNavigationData(0,1); // clear the CRC values |
852 | holgerb | 1404 | StopAllAbbos = 0; |
198 | killagreg | 1405 | } |
671 | holgerb | 1406 | //if(UART1_NaviData_MaxBytes > 150) UART1_NaviData_MaxBytes = 150; |
1407 | //UART1_NaviData_MaxBytes = 150; |
||
598 | holgerb | 1408 | /* |
1409 | #define CHK_MIN_INTERVAL(a,b) {if(a && a < b) a = b;} |
||
1410 | UART1_NaviData_Interval = 500; |
||
1411 | CHK_MIN_INTERVAL(UART1_DebugData_Interval,500); |
||
1412 | CHK_MIN_INTERVAL(UART1_NaviData_Interval,1000); |
||
1413 | CHK_MIN_INTERVAL(UART1_Data3D_Interval,255); |
||
1414 | CHK_MIN_INTERVAL(UART1_Display_Interval,1500); |
||
1415 | CHK_MIN_INTERVAL(UART1_MotorData_Interval,750); |
||
1416 | */ |
||
110 | killagreg | 1417 | UART1_Transmit(); // output pending bytes in tx buffer |
1418 | if((UART1_tx_buffer.Locked == TRUE)) return; |
||
41 | ingob | 1419 | |
156 | killagreg | 1420 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
92 | killagreg | 1421 | { |
315 | killagreg | 1422 | s16 ParamValue; |
299 | killagreg | 1423 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
160 | holgerb | 1424 | 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 | 1425 | UART1_Request_Parameter = FALSE; |
1426 | } |
||
852 | holgerb | 1427 | else if(UART1_Request_MissonParameter && (UART1_tx_buffer.Locked == FALSE)) |
1428 | { |
||
1429 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_MissonParameter, sizeof(UART1_Request_MissonParameter), &WP_MissionParameter, sizeof(WP_MissionParameter)); // answer the param request |
||
1430 | UART1_Request_MissonParameter = 0; |
||
1431 | } |
||
156 | killagreg | 1432 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
1433 | { |
||
110 | killagreg | 1434 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
92 | killagreg | 1435 | Echo = 0; // reset echo value |
110 | killagreg | 1436 | UART1_Request_Echo = FALSE; |
92 | killagreg | 1437 | } |
349 | ingob | 1438 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
1439 | { |
||
433 | ingob | 1440 | u8 errorcode = FTP_ERROR_NONE; |
1441 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
||
1442 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
||
1443 | |||
1444 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
||
489 | killagreg | 1445 | else |
433 | ingob | 1446 | { |
1447 | u8 cmd = FTP_CMD_ERROR; |
||
1448 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
||
1449 | } |
||
1450 | |||
349 | ingob | 1451 | UART1_Request_FTP = FALSE; |
1452 | } |
||
295 | killagreg | 1453 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
154 | killagreg | 1454 | { |
295 | killagreg | 1455 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
1456 | UART1_Request_WritePoint = 0xFF; |
||
154 | killagreg | 1457 | } |
280 | killagreg | 1458 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
154 | killagreg | 1459 | { |
280 | killagreg | 1460 | u8 PointCount = PointList_GetCount(); |
1461 | if (UART1_Request_ReadPoint <= PointCount) |
||
154 | killagreg | 1462 | { |
280 | killagreg | 1463 | 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 | 1464 | } |
1465 | else |
||
1466 | { |
||
280 | killagreg | 1467 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
154 | killagreg | 1468 | } |
280 | killagreg | 1469 | UART1_Request_ReadPoint = 0; |
154 | killagreg | 1470 | } |
1471 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
||
1472 | { |
||
1473 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
||
1474 | UART1_Request_DebugLabel = 0xFF; |
||
1475 | } |
||
833 | holgerb | 1476 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1477 | //+ Mobile menu |
||
1478 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1479 | else if((UART1_Request_MobileInfo) && (UART1_tx_buffer.Locked == FALSE)) // Infos |
||
1480 | { |
||
1481 | u8 cmd = MOBILE_INFO; |
||
1482 | MobileDataInfo.Count = MOBILE_MAX_MENU; |
||
1483 | MobileDataInfo.Compatibel = MOBILE_COMPATIBLITY; |
||
1484 | MobileDataInfo.CheckSumLable = CRC16((unsigned char*)(&MobileLabel[0].MenuLabel[0]), sizeof(MobileLabel)); // update crc for the structure |
||
1485 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'N', NC_ADDRESS, 2, &cmd ,1, &MobileDataInfo, sizeof(MobileDataInfo)); |
||
1486 | UART1_Request_MobileInfo = 0; |
||
1487 | } |
||
1488 | else if((UART1_Request_MobileLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) // Lables |
||
1489 | { |
||
1490 | u8 cmd = MOBILE_LABLE; |
||
1491 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'N', NC_ADDRESS, 3, &cmd ,1, &UART1_Request_MobileLabel, sizeof(UART1_Request_MobileLabel), (u8 *) &MobileLabel[UART1_Request_MobileLabel].MenuLabel[0], sizeof(MobileLabel_t)); |
||
1492 | UART1_Request_MobileLabel = 0xFF; |
||
1493 | } |
||
1494 | else if((((UART1_Request_MobileMenu) && CheckDelay(UART1_MobileMenu_Timer)) || (UART1_Request_MobileMenu == 1)) && (UART1_tx_buffer.Locked == FALSE)) // menu |
||
1495 | { |
||
1496 | u8 cmd = MOBILE_MENU, event; |
||
1497 | static u16 lastcrc = 0; |
||
1498 | u16 crc; |
||
1499 | event = MobileDataRequest.Event; |
||
1500 | MobileMenuUpdate(MobileDataRequest.MenuItem,event,MobileDataRequest.Value); |
||
1501 | MobileDataRequest.Event = 0; |
||
1502 | //++++ has the data changed ? +++++ |
||
1503 | crc = CRC16((unsigned char*)(&Mobile), sizeof(Mobile_t)); |
||
1504 | if(crc != lastcrc || UART1_Request_MobileMenu == 1) |
||
1505 | { |
||
1506 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'N', NC_ADDRESS, 2, &cmd ,1, &Mobile, sizeof(Mobile_t)); |
||
1507 | lastcrc = crc; |
||
1508 | } |
||
1509 | //+++++++++++++++++++++++++++++++++ |
||
1510 | if(++UART1_Request_MobileMenu >= 16) UART1_Request_MobileMenu = 0; |
||
1511 | else UART1_MobileMenu_Timer = SetDelay(500); |
||
1512 | } |
||
1513 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
398 | holgerb | 1514 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1515 | { |
||
1516 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
||
1517 | UART1_ExternalControlConfirmFrame = 0; |
||
1518 | } |
||
620 | holgerb | 1519 | else |
1520 | 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 |
||
1521 | { |
||
1522 | //sent += |
||
1523 | SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
||
1524 | } |
||
151 | killagreg | 1525 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 1526 | { |
598 | holgerb | 1527 | u16 time = 0; |
599 | holgerb | 1528 | //UART1_NaviData_MaxBytes = 250; |
598 | holgerb | 1529 | if(UART1_NaviData_MaxBytes == 0) // Transmit the big NC Data frame |
1530 | { |
||
151 | killagreg | 1531 | NaviData.Errorcode = ErrorCode; |
378 | holgerb | 1532 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
598 | holgerb | 1533 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
151 | killagreg | 1534 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
598 | holgerb | 1535 | } |
1536 | else |
||
1537 | if(CheckDelay(UART1_NaviData_Timer)) |
||
1538 | { |
||
1539 | // Wert = 50 -> Sekunden laufen in 2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 3-4s) |
||
1540 | // Wert = 100 -> Sekunden laufen in 1-2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 2s) |
||
1541 | // Wert = 150 -> Sekunden laufen flüssig (im Wegpunkteflug mit aktivem Countdown und gleichzeitig Target verschieben manchmal in 2s) |
||
1542 | // Wert = 200 -> Sekunden laufen flüssig |
||
1543 | // Wert >= 250 -> optimal |
||
608 | holgerb | 1544 | //UART1_NaviData_MaxBytes = 45; |
599 | holgerb | 1545 | time = TransmitNavigationData(UART1_NaviData_MaxBytes,0); |
598 | holgerb | 1546 | if(UART1_NaviData_Interval > time) time = UART1_NaviData_Interval; |
1547 | UART1_NaviData_Timer = SetDelay(time); |
||
1548 | } |
||
1549 | UART1_Request_NaviData = FALSE; |
||
151 | killagreg | 1550 | } |
1551 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
||
1552 | { |
||
110 | killagreg | 1553 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
1554 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
||
1555 | UART1_Request_DebugData = FALSE; |
||
41 | ingob | 1556 | } |
151 | killagreg | 1557 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
61 | holgerb | 1558 | { |
358 | holgerb | 1559 | Data3D.StickNick = FC.StickNick; |
1560 | Data3D.StickRoll = FC.StickRoll; |
||
1561 | Data3D.StickYaw = FC.StickYaw; |
||
1562 | Data3D.StickGas = FC.StickGas; |
||
588 | holgerb | 1563 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
1564 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
||
1565 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
||
739 | holgerb | 1566 | Data3D.Altimeter_5cm = FC.Altimeter_5cm; // in 5cm -> 20 = 1m |
110 | killagreg | 1567 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
1568 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
||
1569 | UART1_Request_Data3D = FALSE; |
||
61 | holgerb | 1570 | } |
358 | holgerb | 1571 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
1572 | { |
||
1573 | do |
||
1574 | { |
||
1575 | motorindex1++; |
||
1576 | motorindex1%=12; |
||
1577 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
||
1578 | if(motorindex1 == motorindex2) break; |
||
1579 | } |
||
1580 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
||
1581 | |||
1582 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
||
1583 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
||
1584 | UART1_Request_MotorData = FALSE; |
||
1585 | } |
||
494 | killagreg | 1586 | else if(UART1_Request_WPLStore) |
1587 | { |
||
495 | killagreg | 1588 | /* |
1589 | s8 txt[50]; |
||
1590 | 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); |
||
1591 | UART1_PutString(txt); |
||
1592 | */ |
||
1593 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'I', NC_ADDRESS, 1,(u8 *)&(WPL_Answer), sizeof(WPL_Answer_t)); |
||
494 | killagreg | 1594 | UART1_Request_WPLStore = FALSE; |
1595 | } |
||
460 | holgerb | 1596 | else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE)) |
1597 | { |
||
1598 | CreateNmeaGGA(); |
||
466 | holgerb | 1599 | Send_NMEA_RMC = TRUE; // das muss noch da hinter |
460 | holgerb | 1600 | NMEA_Timer = SetDelay(NMEA_Interval); |
1601 | } |
||
466 | holgerb | 1602 | else if(Send_NMEA_RMC == TRUE && (UART1_tx_buffer.Locked == FALSE)) |
1603 | { |
||
1604 | CreateNmeaRMC(); |
||
1605 | Send_NMEA_RMC = FALSE; |
||
1606 | } |
||
153 | killagreg | 1607 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1608 | { |
||
1609 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
||
1610 | UART1_ConfirmFrame = 0; |
||
1611 | } |
||
151 | killagreg | 1612 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 1613 | { |
110 | killagreg | 1614 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
1615 | UART1_Request_ExternalControl = FALSE; |
||
41 | ingob | 1616 | } |
193 | killagreg | 1617 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
195 | killagreg | 1618 | { |
193 | killagreg | 1619 | if(UART1_DisplayLine > 3) |
1620 | { |
||
201 | killagreg | 1621 | Menu_Update(UART1_DisplayKeys); |
1622 | UART1_DisplayKeys = 0; |
||
193 | killagreg | 1623 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
1624 | } |
||
1625 | else |
||
1626 | { |
||
1627 | UART1_DisplayLine = 2; |
||
1628 | sprintf(text,"!!! incompatible !!!"); |
||
1629 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
||
1630 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
||
1631 | } |
||
1632 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
||
110 | killagreg | 1633 | UART1_Request_Display = FALSE; |
41 | ingob | 1634 | } |
151 | killagreg | 1635 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 1636 | { |
201 | killagreg | 1637 | Menu_Update(0); |
110 | killagreg | 1638 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
1639 | UART1_Request_Display1 = FALSE; |
||
41 | ingob | 1640 | } |
548 | holgerb | 1641 | else if(UART1_Request_VersionInfo == 1 && (UART1_tx_buffer.Locked == FALSE)) // get FC-Versions |
41 | ingob | 1642 | { |
548 | holgerb | 1643 | UART_VersionInfo_t version_tmp; |
1644 | version_tmp.SWMajor = FC_Version.Major; |
||
1645 | version_tmp.SWMinor = FC_Version.Minor; |
||
1646 | version_tmp.SWPatch = FC_Version.Patch; |
||
1647 | version_tmp.HWMajor = FC_Version.Hardware; |
||
1648 | version_tmp.HardwareError[0] = 0xff; // tells the KopterTool that it is the FC-version |
||
1649 | version_tmp.HardwareError[1] = 0xff; // tells the KopterTool that it is the FC-version |
||
1650 | version_tmp.ProtoMajor = UART_VersionInfo.ProtoMajor; |
||
1651 | version_tmp.BL_Firmware = UART_VersionInfo.BL_Firmware; |
||
1652 | version_tmp.Flags = 0; |
||
598 | holgerb | 1653 | version_tmp.LabelTextCRC = 0;//UART_VersionInfo.DebugTextCRC; |
548 | holgerb | 1654 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&version_tmp, sizeof(version_tmp)); |
1655 | UART1_Request_VersionInfo = FALSE; |
||
1656 | } |
||
1657 | else if(UART1_Request_VersionInfo == 2 && (UART1_tx_buffer.Locked == FALSE)) // get NC-Versions |
||
1658 | { |
||
110 | killagreg | 1659 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
1660 | UART1_Request_VersionInfo = FALSE; |
||
41 | ingob | 1661 | } |
447 | holgerb | 1662 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
1663 | { |
||
1664 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
||
1665 | UART1_Request_SystemTime = FALSE; |
||
1666 | } |
||
151 | killagreg | 1667 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
41 | ingob | 1668 | { |
110 | killagreg | 1669 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
1670 | UART1_Request_ErrorMessage = FALSE; |
||
41 | ingob | 1671 | } |
689 | holgerb | 1672 | else if(UART1_Request_PPM_Channels && (UART1_tx_buffer.Locked == FALSE)) |
1673 | { |
||
694 | holgerb | 1674 | s16 ppm_tmp[MAX_RC_IN], i; |
1675 | for(i=0; i<MAX_RC_IN;i++) ppm_tmp[i] = PPM_In[i]; // because the serial Data expects s16 |
||
1676 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'P', NC_ADDRESS, 1, (u8 *)&ppm_tmp, sizeof(ppm_tmp)); |
||
689 | holgerb | 1677 | UART1_Request_PPM_Channels = FALSE; |
1678 | } |
||
529 | holgerb | 1679 | else if(UART1_Request_LicenseString && (UART1_tx_buffer.Locked == FALSE)) |
1680 | { |
||
531 | holgerb | 1681 | u8 result = 1, cmd = 0; |
529 | holgerb | 1682 | if(UART1_Request_LicenseString == LIC_CMD_READ_LICENSE) |
1683 | { |
||
1684 | result = LIC_CMD_READ_LICENSE; |
||
1685 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &result, 1, LicensePtr, LICENSE_SIZE); |
||
1686 | } |
||
1687 | else |
||
531 | holgerb | 1688 | if((UART1_Request_LicenseString == LIC_CMD_ERASE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
529 | holgerb | 1689 | { |
1690 | result = LIC_CMD_ERASE_LICENSE; |
||
1691 | DeleteLicenseInEEPROM(); |
||
1692 | CheckLicense(GET_LICENSE); |
||
1693 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 1, &result, 1); |
||
1694 | } |
||
1695 | else |
||
531 | holgerb | 1696 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
529 | holgerb | 1697 | { |
531 | holgerb | 1698 | cmd = LIC_CMD_WRITE_LICENSE; |
529 | holgerb | 1699 | if(CheckLicense(CHECK_ONLY)) //new license is okay |
1700 | { |
||
1701 | WriteLicenseToEEPROM(EEPROM_LICENSE_DATA_KOMPATIBEL); |
||
530 | holgerb | 1702 | result = 1; |
529 | holgerb | 1703 | } |
1704 | else //new license is NOT okay |
||
1705 | { |
||
1706 | ClearLicenseText(); |
||
531 | holgerb | 1707 | result = 0; |
1708 | CheckLicense(GET_LICENSE); // fetch a license if available |
||
529 | holgerb | 1709 | } |
531 | holgerb | 1710 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &cmd, 1,&result, 1 ); |
529 | holgerb | 1711 | } |
1712 | UART1_Request_LicenseString = 0; |
||
1713 | } |
||
314 | killagreg | 1714 | #ifdef FOLLOW_ME |
1715 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
||
1716 | { |
||
1717 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
||
315 | killagreg | 1718 | { |
314 | killagreg | 1719 | TransmitAlsoToFC = 1; |
1720 | // update FollowMe content |
||
1721 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
||
1722 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
||
1723 | FollowMe.Position.Status = NEWDATA; |
||
1724 | FollowMe.Position.Altitude = 1; |
||
1725 | // 0 -> no Orientation |
||
1726 | // 1-360 -> CompassCourse Setpoint |
||
1727 | // -1 -> points to WP1 -> itself |
||
1728 | FollowMe.Heading = -1; |
||
1729 | FollowMe.ToleranceRadius = 1; |
||
1730 | FollowMe.HoldTime = 60; |
||
1731 | FollowMe.Event_Flag = 1; |
||
1732 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
||
1733 | FollowMe.Type = POINT_TYPE_WP; |
||
1734 | FollowMe.WP_EventChannelValue = 100; // set servo value |
||
1735 | FollowMe.AltitudeRate = 0; // do not change height |
||
403 | holgerb | 1736 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
1737 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
||
1738 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
||
1739 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
||
1740 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
||
1741 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
||
314 | killagreg | 1742 | FollowMe.reserve[0] = 0; // reserve |
1743 | FollowMe.reserve[1] = 0; // reserve |
||
763 | holgerb | 1744 | /* |
1745 | { |
||
1746 | static u32 distance; |
||
1747 | distance = (10 + distance + AnalogData.Ch5 * 5) / 2; |
||
1748 | |||
1749 | GPSPos_ShiftGeodetic(&(FollowMe.Position), (s16)GyroCompassCorrected/10, distance); |
||
1750 | FollowMe.Heading = (s16)GyroCompassCorrected/10; |
||
1751 | FollowMe.CamAngle = 0; // Camera servo angle in degree (255 -> POI-Automatic) |
||
1752 | FollowMe.Speed = 50 + GPSData.Speed_Ground / 10; |
||
1753 | } |
||
1754 | */ |
||
314 | killagreg | 1755 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
1756 | } |
||
1757 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
||
1758 | } |
||
1759 | #endif |
||
250 | ingob | 1760 | #ifdef DEBUG // only include functions if DEBUG is defined |
314 | killagreg | 1761 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
254 | killagreg | 1762 | { |
1763 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
||
1764 | SendDebugOutput = 0; |
||
1765 | } |
||
315 | killagreg | 1766 | #endif |
110 | killagreg | 1767 | UART1_Transmit(); // output pending bytes in tx buffer |
41 | ingob | 1768 | } |
1769 |