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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 1 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 1 | ingob | 29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 34 | // + this list of conditions and the following disclaimer. |
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| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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| 38 | // + for non-commercial use (directly or indirectly) |
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| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 40 | // + with our written permission |
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| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 42 | // + clearly linked as origin |
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| 171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 1 | ingob | 44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 112 | killagreg | 57 | #include <string.h> |
| 41 | ingob | 58 | #include "91x_lib.h" |
| 136 | killagreg | 59 | #include "config.h" |
| 112 | killagreg | 60 | #include "main.h" |
| 41 | ingob | 61 | #include "uart1.h" |
| 62 | #include "usb.h" |
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| 111 | killagreg | 63 | #include "mkprotocol.h" |
| 112 | killagreg | 64 | #include "waypoints.h" |
| 65 | #include "gps.h" |
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| 119 | killagreg | 66 | #include "timer1.h" |
| 112 | killagreg | 67 | #include "uart0.h" |
| 68 | #include "uart1.h" |
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| 69 | #include "uart2.h" |
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| 70 | #include "menu.h" |
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| 111 | killagreg | 71 | |
| 72 | |||
| 73 | // the tx buffer |
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| 74 | #define USB_TX_BUFFER_LEN 150 |
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| 75 | u8 USB_tbuffer[USB_TX_BUFFER_LEN]; |
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| 76 | Buffer_t USB_tx_buffer; |
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| 77 | |||
| 78 | // the rx buffer |
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| 79 | #define USB_RX_BUFFER_LEN 150 |
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| 80 | u8 USB_rbuffer[USB_RX_BUFFER_LEN]; |
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| 81 | Buffer_t USB_rx_buffer; |
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| 82 | |||
| 112 | killagreg | 83 | u8 USB_Request_VersionInfo = FALSE; |
| 84 | u8 USB_Request_SendFollowMe = FALSE; |
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| 85 | u8 USB_Request_ExternalControl= FALSE; |
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| 86 | u8 USB_Request_Display = FALSE; |
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| 87 | u8 USB_Request_Display1 = FALSE; |
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| 88 | u8 USB_Request_DebugData = FALSE; |
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| 89 | u8 USB_Request_DebugLabel = 255; |
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| 90 | u8 USB_Request_NaviData = FALSE; |
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| 91 | u8 USB_Request_ErrorMessage = FALSE; |
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| 92 | u8 USB_Request_NewWaypoint = FALSE; |
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| 93 | u8 USB_Request_ReadWaypoint = 255; |
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| 94 | u8 USB_Request_Data3D = FALSE; |
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| 95 | u8 USB_Request_Echo = FALSE; |
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| 111 | killagreg | 96 | |
| 112 | killagreg | 97 | u8 USB_DisplayLine = 0; |
| 98 | u8 USB_ConfirmFrame = 0; |
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| 99 | |||
| 100 | u32 USB_DebugData_Timer = 0; |
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| 101 | u32 USB_DebugData_Interval = 0; // in ms |
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| 102 | u32 USB_NaviData_Timer = 0; |
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| 103 | u32 USB_NaviData_Interval = 0; // in ms |
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| 104 | u32 USB_Data3D_Timer = 0; // in ms |
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| 105 | u32 USB_Data3D_Interval = 0; |
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| 106 | |||
| 1 | ingob | 107 | //----------------------------------------------------------------- |
| 108 | void USB_ConfigInit(void) |
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| 109 | { |
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| 41 | ingob | 110 | GPIO_InitTypeDef GPIO_InitStructure; |
| 1 | ingob | 111 | |
| 110 | killagreg | 112 | UART1_PutString("\r\n USB init..."); |
| 41 | ingob | 113 | #ifdef MCLK96MHZ |
| 114 | //USB clock = MCLK/2 = 48MHz |
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| 115 | SCU_USBCLKConfig(SCU_USBCLK_MCLK2); |
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| 116 | #else |
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| 117 | //USB clock = MCLK = 48MHz |
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| 118 | SCU_USBCLKConfig(SCU_USBCLK_MCLK); |
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| 119 | #endif |
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| 120 | //Enable USB clock |
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| 121 | SCU_AHBPeriphClockConfig(__USB,ENABLE); |
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| 122 | SCU_AHBPeriphReset(__USB,DISABLE); |
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| 123 | SCU_AHBPeriphClockConfig(__USB48M,ENABLE); |
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| 1 | ingob | 124 | |
| 41 | ingob | 125 | //Configure GPIO0 (D+ Pull-Up on P0.1) |
| 126 | SCU_APBPeriphClockConfig(__GPIO0 ,ENABLE); |
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| 127 | SCU_APBPeriphReset(__GPIO0,DISABLE); |
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| 1 | ingob | 128 | |
| 41 | ingob | 129 | // GPIO_DeInit(P0.1); |
| 130 | GPIO_StructInit(&GPIO_InitStructure); |
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| 131 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 132 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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| 133 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 134 | GPIO_InitStructure.GPIO_IPConnected=GPIO_IPConnected_Enable; |
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| 135 | GPIO_InitStructure.GPIO_Alternate=GPIO_OutputAlt1; |
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| 136 | GPIO_Init (GPIO0, &GPIO_InitStructure); |
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| 1 | ingob | 137 | |
| 112 | killagreg | 138 | // initialize txd buffer |
| 139 | Buffer_Init(&USB_tx_buffer, USB_tbuffer, USB_TX_BUFFER_LEN); |
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| 111 | killagreg | 140 | |
| 141 | // initialize rxd buffer |
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| 112 | killagreg | 142 | Buffer_Init(&USB_rx_buffer, USB_rbuffer, USB_RX_BUFFER_LEN); |
| 111 | killagreg | 143 | |
| 41 | ingob | 144 | PowerOff(); |
| 145 | Virtual_Com_Port_Reset(); |
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| 1 | ingob | 146 | |
| 136 | killagreg | 147 | VIC_Config(USBLP_ITLine, VIC_IRQ, PRIORITY_USB); |
| 41 | ingob | 148 | VIC_ITCmd(USBLP_ITLine, ENABLE); |
| 1 | ingob | 149 | |
| 41 | ingob | 150 | USB_Init(); |
| 1 | ingob | 151 | |
| 110 | killagreg | 152 | UART1_PutString("ok"); |
| 1 | ingob | 153 | } |
| 154 | |||
| 112 | killagreg | 155 | |
| 156 | /**************************************************************/ |
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| 157 | /* Process incomming data from debug uart */ |
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| 158 | /**************************************************************/ |
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| 159 | void USB_ProcessRxData(void) |
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| 160 | { |
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| 161 | SerialMsg_t SerialMsg; |
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| 114 | killagreg | 162 | Waypoint_t * pWaypoint = NULL; |
| 112 | killagreg | 163 | // if data in the rxd buffer are not locked immediately return |
| 164 | if((USB_rx_buffer.Locked == FALSE) || (DebugUART != UART1) ) return; |
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| 165 | |||
| 166 | MKProtocol_DecodeSerialFrame(&USB_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
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| 114 | killagreg | 167 | |
| 153 | killagreg | 168 | if(*SerialMsg.pCmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
| 169 | switch(*SerialMsg.pAddress) // check for Slave Address |
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| 112 | killagreg | 170 | { |
| 171 | case NC_ADDRESS: // own Slave Address |
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| 153 | killagreg | 172 | switch(*SerialMsg.pCmdID) |
| 112 | killagreg | 173 | { |
| 174 | case 'e': // request for the text of the error status |
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| 175 | USB_Request_ErrorMessage = TRUE; |
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| 176 | break; |
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| 177 | |||
| 178 | case 's':// new target position |
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| 179 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
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| 180 | BeepTime = 300; |
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| 181 | if(pWaypoint->Position.Status == NEWDATA) |
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| 182 | { |
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| 183 | WPList_Clear(); // empty WPList |
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| 184 | WPList_Append(pWaypoint); |
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| 185 | GPS_pWaypoint = WPList_Begin(); |
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| 186 | } |
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| 187 | break; |
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| 188 | /* |
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| 189 | case 'u': // redirect debug uart |
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| 190 | switch(SerialMsg.pData[0]) |
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| 191 | { |
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| 192 | case UART_FLIGHTCTRL: |
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| 193 | UART2_Init(); // initialize UART2 to FC pins |
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| 194 | DebugUART = UART2; |
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| 195 | break; |
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| 196 | case UART_MK3MAG: |
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| 197 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
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| 198 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
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| 199 | GPSData.Status = INVALID; |
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| 200 | DebugUART = UART0; |
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| 201 | break; |
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| 202 | case UART_MKGPS: |
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| 203 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
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| 204 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
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| 205 | GPSData.Status = INVALID; |
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| 206 | DebugUART = UART0; |
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| 207 | break; |
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| 208 | } |
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| 209 | break; |
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| 210 | */ |
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| 211 | case 'w':// Append Waypoint to List |
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| 212 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
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| 213 | if(pWaypoint->Position.Status == INVALID) |
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| 214 | { // clear WP List |
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| 215 | WPList_Clear(); |
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| 216 | GPS_pWaypoint = WPList_Begin(); |
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| 217 | //UART1_PutString("\r\nClear WP List\r\n"); |
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| 218 | } |
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| 219 | else if (pWaypoint->Position.Status == NEWDATA) |
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| 220 | { // app current WP to the list |
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| 221 | WPList_Append(pWaypoint); |
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| 222 | BeepTime = 500; |
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| 223 | //UART1_PutString("\r\nAdd WP to List\r\n"); |
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| 224 | } |
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| 225 | USB_Request_NewWaypoint = TRUE; |
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| 226 | break; |
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| 227 | |||
| 228 | case 'x':// Read Waypoint from List |
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| 229 | USB_Request_ReadWaypoint = SerialMsg.pData[0]; |
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| 230 | break; |
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| 231 | |||
| 232 | default: |
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| 233 | // unsupported command recieved |
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| 234 | break; |
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| 235 | } // case NC_ADDRESS |
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| 236 | // "break;" is missing here to fall thru to the common commands |
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| 237 | |||
| 238 | default: // and any other Slave Address |
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| 239 | |||
| 153 | killagreg | 240 | switch(*SerialMsg.pCmdID) // check CmdID |
| 112 | killagreg | 241 | { |
| 242 | case 'a':// request for the labels of the analog debug outputs |
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| 243 | USB_Request_DebugLabel = SerialMsg.pData[0]; |
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| 244 | if(USB_Request_DebugLabel > 31) USB_Request_DebugLabel = 31; |
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| 245 | break; |
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| 246 | |||
| 247 | case 'b': // submit extern control |
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| 248 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
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| 249 | USB_ConfirmFrame = ExternControl.Frame; |
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| 250 | break; |
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| 251 | |||
| 252 | case 'd': // request for debug data; |
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| 253 | USB_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
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| 254 | if(USB_DebugData_Interval > 0) USB_Request_DebugData = TRUE; |
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| 255 | break; |
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| 256 | |||
| 257 | case 'c': // request for 3D data; |
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| 258 | USB_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
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| 259 | if(USB_Data3D_Interval > 0) USB_Request_Data3D = TRUE; |
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| 260 | break; |
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| 261 | |||
| 262 | case 'g':// request for external control data |
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| 263 | USB_Request_ExternalControl = TRUE; |
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| 264 | break; |
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| 265 | |||
| 266 | case 'h':// reqest for display line |
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| 267 | RemoteKeys |= SerialMsg.pData[0]; |
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| 268 | if(RemoteKeys != 0) USB_DisplayLine = 0; |
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| 269 | USB_Request_Display = TRUE; |
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| 270 | break; |
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| 271 | |||
| 272 | case 'l':// reqest for display columns |
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| 273 | MenuItem = SerialMsg.pData[0]; |
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| 274 | USB_Request_Display1 = TRUE; |
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| 275 | break; |
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| 276 | |||
| 277 | case 'o': // request for navigation information |
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| 278 | USB_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
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| 279 | if(USB_NaviData_Interval > 0) USB_Request_NaviData = TRUE; |
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| 280 | break; |
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| 281 | |||
| 282 | case 'v': // request for version info |
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| 283 | USB_Request_VersionInfo = TRUE; |
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| 284 | break; |
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| 285 | default: |
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| 286 | // unsupported command recieved |
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| 287 | break; |
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| 288 | } |
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| 289 | break; // default: |
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| 290 | } |
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| 291 | Buffer_Clear(&USB_rx_buffer); |
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| 292 | } |
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| 293 | |||
| 294 | |||
| 1 | ingob | 295 | //----------------------------------------------------------------- |
| 111 | killagreg | 296 | void USB_CableConfig(FunctionalState NewState) |
| 1 | ingob | 297 | { |
| 41 | ingob | 298 | if (NewState == ENABLE) |
| 299 | GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_RESET); |
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| 300 | else |
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| 301 | GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_SET); |
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| 1 | ingob | 302 | } |
| 303 | |||
| 304 | //----------------------------------------------------------------- |
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| 111 | killagreg | 305 | void USB_PutString(u8 *string) |
| 1 | ingob | 306 | { |
| 41 | ingob | 307 | u8 i = 0; |
| 308 | u16 timeout = 0; |
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| 309 | |||
| 111 | killagreg | 310 | while (string[i++] != 0){} // get string len |
| 41 | ingob | 311 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
| 111 | killagreg | 312 | UserToPMABufferCopy(string, ENDP1_TXADDR, ++i); // copy string to usb buffer |
| 41 | ingob | 313 | SetEPTxCount(ENDP1,i); |
| 314 | SetEPTxValid(ENDP1); |
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| 1 | ingob | 315 | } |
| 316 | |||
| 317 | //----------------------------------------------------------------- |
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| 111 | killagreg | 318 | void USB_PutChar(u8 c) |
| 1 | ingob | 319 | { |
| 41 | ingob | 320 | u16 timeout = 0; |
| 321 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
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| 111 | killagreg | 322 | UserToPMABufferCopy(&c, ENDP1_TXADDR, 2); |
| 41 | ingob | 323 | SetEPTxCount(ENDP1,2); |
| 324 | SetEPTxValid(ENDP1); |
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| 325 | } |
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| 326 | |||
| 1 | ingob | 327 | //----------------------------------------------------------------- |
| 111 | killagreg | 328 | void USB_SendData(u8 *pdata, u16 count) |
| 1 | ingob | 329 | { |
| 41 | ingob | 330 | u8 i; |
| 331 | count++; |
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| 114 | killagreg | 332 | u16 timeout = 0; |
| 41 | ingob | 333 | |
| 334 | for (i=0;i< (count/64)+1;i++) |
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| 335 | { |
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| 114 | killagreg | 336 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){if (timeout++ > 60000) return;} |
| 41 | ingob | 337 | if (i < (count/64)) |
| 338 | { |
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| 111 | killagreg | 339 | UserToPMABufferCopy(&pdata[i*64], ENDP1_TXADDR, 64); |
| 41 | ingob | 340 | SetEPTxCount(ENDP1,64); |
| 341 | } |
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| 342 | else |
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| 343 | { |
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| 111 | killagreg | 344 | UserToPMABufferCopy(&pdata[i*64], ENDP1_TXADDR, count % 64); |
| 41 | ingob | 345 | SetEPTxCount(ENDP1, count % 64); |
| 346 | } |
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| 347 | SetEPTxValid(ENDP1); |
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| 1 | ingob | 348 | } |
| 349 | } |
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| 350 | |||
| 112 | killagreg | 351 | /**************************************************************/ |
| 352 | /* Transmit tx buffer via usb */ |
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| 353 | /**************************************************************/ |
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| 354 | void USB_Transmit(void) |
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| 355 | { // nur blockweises kopieren des sendebuffers, nicht alles mit einem mal |
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| 356 | // if something has to be send and the txd fifo is not full |
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| 114 | killagreg | 357 | u16 i; |
| 112 | killagreg | 358 | if(USB_tx_buffer.Locked == TRUE) |
| 359 | { |
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| 114 | killagreg | 360 | if(_GetEPTxStatus(ENDP1) == EP_TX_NAK) |
| 361 | //if(_GetEPTxStatus(ENDP1) != EP_TX_VALID) // ready to send |
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| 112 | killagreg | 362 | { |
| 363 | if(USB_tx_buffer.Position < USB_tx_buffer.DataBytes) |
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| 364 | { |
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| 114 | killagreg | 365 | i = USB_tx_buffer.DataBytes - USB_tx_buffer.Position; // bytes to send |
| 112 | killagreg | 366 | if(i > 64) i = 64; // limit packet size to 64 bytes |
| 367 | UserToPMABufferCopy(&(USB_tx_buffer.pData[USB_tx_buffer.Position]), ENDP1_TXADDR, i); |
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| 114 | killagreg | 368 | SetEPTxCount(ENDP1,i); |
| 369 | SetEPTxValid(ENDP1); |
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| 112 | killagreg | 370 | USB_tx_buffer.Position += i; |
| 371 | } |
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| 372 | } |
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| 373 | if(USB_tx_buffer.Position >= USB_tx_buffer.DataBytes) // all bytes transfered |
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| 374 | { |
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| 375 | Buffer_Clear(&USB_tx_buffer); // clear buffer |
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| 376 | } |
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| 377 | } |
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| 378 | } |
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| 379 | |||
| 380 | /**************************************************************/ |
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| 381 | /* Send the answers to incomming commands at the debug uart */ |
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| 382 | /**************************************************************/ |
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| 383 | void USB_TransmitTxData(void) |
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| 384 | { |
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| 385 | USB_Transmit(); // output pending bytes in tx buffer |
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| 386 | if((USB_tx_buffer.Locked == TRUE)) return; |
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| 387 | |||
| 388 | if((USB_Request_DebugLabel != 0xFF) && (USB_tx_buffer.Locked == FALSE)) |
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| 389 | { |
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| 390 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'A', NC_ADDRESS, 2, &USB_Request_DebugLabel, sizeof(USB_Request_DebugLabel), (u8 *) ANALOG_LABEL[USB_Request_DebugLabel], 16); |
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| 391 | USB_Request_DebugLabel = 0xFF; |
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| 392 | } |
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| 393 | if(USB_ConfirmFrame && (USB_tx_buffer.Locked == FALSE)) |
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| 394 | { |
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| 395 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'B', NC_ADDRESS, 1, &USB_ConfirmFrame, sizeof(USB_ConfirmFrame)); |
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| 396 | USB_ConfirmFrame = 0; |
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| 397 | } |
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| 398 | if( (( (USB_DebugData_Interval > 0) && CheckDelay(USB_DebugData_Timer)) || USB_Request_DebugData) && (USB_tx_buffer.Locked == FALSE)) |
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| 399 | { |
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| 400 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
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| 401 | USB_DebugData_Timer = SetDelay(USB_DebugData_Interval); |
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| 402 | USB_Request_DebugData = FALSE; |
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| 403 | } |
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| 404 | |||
| 405 | if((( (USB_Data3D_Interval > 0) && CheckDelay(USB_Data3D_Timer) ) || USB_Request_Data3D) && (USB_tx_buffer.Locked == FALSE)) |
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| 406 | { |
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| 407 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
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| 408 | USB_Data3D_Timer = SetDelay(USB_Data3D_Interval); |
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| 409 | USB_Request_Data3D = FALSE; |
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| 410 | } |
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| 411 | |||
| 412 | if(USB_Request_ExternalControl && (USB_tx_buffer.Locked == FALSE)) |
||
| 413 | { |
||
| 414 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
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| 415 | USB_Request_ExternalControl = FALSE; |
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| 416 | } |
||
| 417 | if(USB_Request_Display && (USB_tx_buffer.Locked == FALSE)) |
||
| 418 | { |
||
| 419 | LCD_PrintMenu(); |
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| 420 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'H', NC_ADDRESS, 2, &USB_DisplayLine, sizeof(USB_DisplayLine), (u8*)&DisplayBuff[USB_DisplayLine * 20], 20); |
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| 421 | USB_DisplayLine++; |
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| 422 | if(USB_DisplayLine >= 4) USB_DisplayLine = 0; |
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| 423 | USB_Request_Display = FALSE; |
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| 424 | } |
||
| 425 | if(USB_Request_Display1 && (USB_tx_buffer.Locked == FALSE)) |
||
| 426 | { |
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| 427 | LCD_PrintMenu(); |
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| 428 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
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| 429 | USB_Request_Display1 = FALSE; |
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| 430 | } |
||
| 431 | if(USB_Request_VersionInfo && (USB_tx_buffer.Locked == FALSE)) |
||
| 432 | { |
||
| 433 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
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| 434 | USB_Request_VersionInfo = FALSE; |
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| 435 | } |
||
| 436 | if(( (USB_NaviData_Interval && CheckDelay(USB_NaviData_Timer) ) || USB_Request_NaviData) && (USB_tx_buffer.Locked == FALSE)) |
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| 437 | { |
||
| 438 | NaviData.Errorcode = ErrorCode; |
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| 439 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
||
| 440 | USB_NaviData_Timer = SetDelay(USB_NaviData_Interval); |
||
| 441 | USB_Request_NaviData = FALSE; |
||
| 442 | } |
||
| 443 | if(USB_Request_ErrorMessage && (USB_tx_buffer.Locked == FALSE)) |
||
| 444 | { |
||
| 445 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
||
| 446 | USB_Request_ErrorMessage = FALSE; |
||
| 447 | } |
||
| 448 | if(USB_Request_NewWaypoint && (USB_tx_buffer.Locked == FALSE)) |
||
| 449 | { |
||
| 450 | u8 WPNumber = WPList_GetCount(); |
||
| 451 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
||
| 452 | USB_Request_NewWaypoint = FALSE; |
||
| 453 | } |
||
| 454 | if((USB_Request_ReadWaypoint != 0xFF) && (USB_tx_buffer.Locked == FALSE)) |
||
| 455 | { |
||
| 456 | u8 WPNumber = WPList_GetCount(); |
||
| 457 | if (USB_Request_ReadWaypoint < WPNumber) |
||
| 458 | { |
||
| 459 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &USB_Request_ReadWaypoint, 1, WPList_GetAt(USB_Request_ReadWaypoint), sizeof(Waypoint_t)); |
||
| 460 | } |
||
| 461 | else |
||
| 462 | { |
||
| 463 | MKProtocol_CreateSerialFrame(&USB_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
||
| 464 | } |
||
| 465 | USB_Request_ReadWaypoint = 0xFF; |
||
| 466 | } |
||
| 467 | USB_Transmit(); // output pending bytes in tx buffer |
||
| 468 | } |