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| Rev | Author | Line No. | Line |
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| 41 | ingob | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 6 | // + Nur für den privaten Gebrauch |
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| 7 | // + FOR NON COMMERCIAL USE ONLY |
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| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 29 | // + mit unserer Zustimmung zulässig |
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| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 34 | // + this list of conditions and the following disclaimer. |
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| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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| 38 | // + for non-commercial use (directly or indirectly) |
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| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 40 | // + with our written permission |
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| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 42 | // + clearly linked as origin |
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| 43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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| 44 | // |
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| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 110 | killagreg | 57 | #include <stdio.h> |
| 58 | #include <stdarg.h> |
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| 41 | ingob | 59 | #include "91x_lib.h" |
| 110 | killagreg | 60 | #include "main.h" |
| 49 | ingob | 61 | #include "uart0.h" |
| 41 | ingob | 62 | #include "uart1.h" |
| 110 | killagreg | 63 | #include "timer.h" |
| 41 | ingob | 64 | #include "ubx.h" |
| 110 | killagreg | 65 | #include "mkprotocol.h" |
| 41 | ingob | 66 | |
| 110 | killagreg | 67 | u8 UART0_Request_VersionInfo = FALSE; |
| 68 | u8 UART0_Request_NaviData = FALSE; |
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| 69 | u32 UART0_NaviData_Timer; |
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| 70 | u32 UART0_NaviData_Interval = 0; // in ms |
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| 41 | ingob | 71 | //------------------------------------------------------------------------------------ |
| 72 | // global variables |
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| 73 | |||
| 110 | killagreg | 74 | #define UART0_BAUD_RATE 57600 //Baud Rate for the serial interfaces |
| 41 | ingob | 75 | // UART0 MUXER |
| 76 | UART0_MuxerState_t UART0_Muxer = UART0_UNDEF; |
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| 110 | killagreg | 77 | u16 Uart0Baudrate = UART0_BAUD_RATE; |
| 78 | u16 Uart0MK3MagBaudrate = UART0_BAUD_RATE; |
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| 41 | ingob | 79 | |
| 110 | killagreg | 80 | // the tx buffer |
| 81 | #define UART0_TX_BUFFER_LEN 150 |
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| 82 | u8 UART0_tbuffer[UART0_TX_BUFFER_LEN]; |
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| 83 | Buffer_t UART0_tx_buffer; |
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| 49 | ingob | 84 | |
| 110 | killagreg | 85 | // the rx buffer |
| 86 | #define UART0_RX_BUFFER_LEN 150 |
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| 87 | u8 UART0_rbuffer[UART0_RX_BUFFER_LEN]; |
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| 88 | Buffer_t UART0_rx_buffer; |
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| 89 | |||
| 90 | |||
| 41 | ingob | 91 | //------------------------------------------------------------------------------------ |
| 92 | // functions |
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| 93 | |||
| 94 | /********************************************************/ |
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| 95 | /* Connect RXD & TXD to GPS */ |
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| 96 | /********************************************************/ |
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| 97 | void UART0_Connect_to_MKGPS(void) |
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| 98 | { |
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| 99 | GPIO_InitTypeDef GPIO_InitStructure; |
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| 100 | |||
| 101 | UART0_Muxer = UART0_UNDEF; |
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| 102 | |||
| 103 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
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| 104 | // unmap UART0 from Compass |
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| 105 | // set port pin 5.1 (serial data from compass) to input and disconnect from IP |
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| 106 | GPIO_StructInit(&GPIO_InitStructure); |
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| 107 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 108 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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| 109 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 110 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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| 111 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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| 112 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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| 113 | // set port pin 5.0 (serial data to compass) to input |
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| 114 | GPIO_StructInit(&GPIO_InitStructure); |
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| 115 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 116 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
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| 117 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 118 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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| 119 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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| 120 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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| 121 | // map UART0 to GPS |
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| 122 | // set port pin 6.6 (serial data from gps) to input and connect to IP |
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| 123 | GPIO_StructInit(&GPIO_InitStructure); |
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| 124 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 125 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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| 126 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 127 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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| 128 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
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| 129 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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| 130 | // set port pin 6.7 (serial data to gps) to output |
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| 131 | GPIO_StructInit(&GPIO_InitStructure); |
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| 132 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 133 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
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| 134 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 135 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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| 136 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
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| 137 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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| 138 | |||
| 139 | UART0_Muxer = UART0_MKGPS; |
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| 140 | } |
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| 141 | |||
| 142 | /********************************************************/ |
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| 143 | /* Connect RXD & TXD to MK3MAG */ |
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| 144 | /********************************************************/ |
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| 145 | void UART0_Connect_to_MK3MAG(void) |
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| 146 | { |
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| 147 | GPIO_InitTypeDef GPIO_InitStructure; |
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| 148 | |||
| 149 | UART0_Muxer = UART0_UNDEF; |
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| 150 | |||
| 151 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
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| 152 | // unmap UART0 from GPS |
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| 153 | // set port pin 6.6 (serial data from gps) to input and disconnect from IP |
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| 154 | GPIO_StructInit(&GPIO_InitStructure); |
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| 155 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 156 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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| 157 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 158 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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| 159 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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| 160 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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| 161 | // set port pin 6.7 (serial data to gps) to input |
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| 162 | GPIO_StructInit(&GPIO_InitStructure); |
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| 163 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 164 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
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| 165 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 166 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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| 167 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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| 168 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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| 169 | |||
| 170 | // map UART0 to Compass |
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| 171 | // set port pin 5.1 (serial data from compass) to input and connect to IP |
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| 172 | GPIO_StructInit(&GPIO_InitStructure); |
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| 173 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 174 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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| 175 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 176 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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| 177 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
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| 178 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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| 179 | // set port pin 5.0 (serial data to compass) to output |
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| 180 | GPIO_StructInit(&GPIO_InitStructure); |
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| 181 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 182 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
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| 183 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 184 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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| 185 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
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| 186 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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| 187 | |||
| 188 | UART0_Muxer = UART0_MK3MAG; |
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| 189 | } |
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| 190 | |||
| 191 | /********************************************************/ |
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| 192 | /* Initialize UART0 */ |
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| 193 | /********************************************************/ |
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| 194 | void UART0_Init(void) |
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| 195 | { |
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| 196 | UART_InitTypeDef UART_InitStructure; |
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| 197 | |||
| 110 | killagreg | 198 | UART1_PutString("\r\n UART0 init..."); |
| 41 | ingob | 199 | |
| 200 | SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART0 Clock |
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| 201 | |||
| 110 | killagreg | 202 | Uart0Baudrate = UART0_BAUD_RATE + ((UART0_BAUD_RATE * 2)/100); // MK3Mag baudrate is a litlle bit higher... |
| 41 | ingob | 203 | |
| 204 | /* UART0 configured as follow: |
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| 205 | - Word Length = 8 Bits |
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| 206 | - One Stop Bit |
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| 207 | - No parity |
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| 208 | - BaudRate = 57600 baud |
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| 209 | - Hardware flow control Disabled |
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| 210 | - Receive and transmit enabled |
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| 211 | - Receive and transmit FIFOs are Disabled |
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| 212 | */ |
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| 213 | UART_StructInit(&UART_InitStructure); |
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| 214 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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| 215 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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| 216 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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| 217 | UART_InitStructure.UART_BaudRate = Uart0Baudrate; |
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| 218 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
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| 219 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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| 220 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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| 221 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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| 222 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
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| 223 | |||
| 224 | UART_DeInit(UART0); // reset uart 0 to default |
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| 225 | UART_Init(UART0, &UART_InitStructure); // initialize uart 0 |
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| 226 | |||
| 227 | // enable uart 0 interrupts selective |
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| 228 | UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut /*| UART_IT_FrameError*/, ENABLE); |
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| 229 | UART_Cmd(UART0, ENABLE); // enable uart 0 |
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| 230 | // configure the uart 0 interupt line as an IRQ with priority 10 (0 is highest) |
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| 231 | VIC_Config(UART0_ITLine, VIC_IRQ, 10); |
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| 232 | // enable the uart 0 IRQ |
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| 233 | VIC_ITCmd(UART0_ITLine, ENABLE); |
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| 234 | UART0_Connect_to_MKGPS(); |
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| 235 | |||
| 110 | killagreg | 236 | // initialize txd buffer |
| 237 | UART0_tx_buffer.pData = UART0_tbuffer; |
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| 238 | UART0_tx_buffer.Size = UART0_TX_BUFFER_LEN; |
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| 239 | UART0_tx_buffer.Position = 0; |
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| 240 | UART0_tx_buffer.Locked = FALSE; |
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| 241 | |||
| 242 | // initialize rxd buffer |
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| 243 | UART0_rx_buffer.pData = UART0_rbuffer; |
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| 244 | UART0_rx_buffer.Size = UART0_RX_BUFFER_LEN; |
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| 245 | UART0_rx_buffer.Position = 0; |
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| 246 | UART0_rx_buffer.Locked = FALSE; |
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| 49 | ingob | 247 | |
| 110 | killagreg | 248 | UART1_PutString("ok"); |
| 49 | ingob | 249 | } |
| 250 | |||
| 41 | ingob | 251 | /********************************************************/ |
| 252 | /* UART0 Interrupt Handler */ |
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| 253 | /********************************************************/ |
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| 254 | void UART0_IRQHandler(void) |
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| 255 | { |
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| 256 | u8 c; |
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| 257 | // if receive irq or receive timeout irq has occured |
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| 258 | if((UART_GetITStatus(UART0, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART0, UART_IT_ReceiveTimeOut) != RESET) ) |
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| 259 | { |
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| 260 | UART_ClearITPendingBit(UART0, UART_IT_Receive); // clear receive interrupt flag |
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| 261 | UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
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| 262 | |||
| 263 | // if debug UART is UART0 |
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| 264 | if (DebugUART == UART0) |
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| 265 | { // forward received data to the UART1 tx buffer |
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| 266 | while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
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| 267 | { |
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| 268 | // wait for space in the tx buffer of the UART1 |
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| 269 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {}; |
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| 270 | // move the byte from the rx buffer of UART0 to the tx buffer of UART1 |
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| 271 | UART_SendData(UART1, UART_ReceiveData(UART0)); |
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| 272 | } |
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| 273 | } |
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| 274 | else // UART0 is not the DebugUART (normal operation) |
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| 275 | { |
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| 276 | // repeat until no byte is in the RxFIFO |
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| 277 | while (UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
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| 278 | { |
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| 279 | c = UART_ReceiveData(UART0); // get byte from rx fifo |
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| 280 | switch(UART0_Muxer) |
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| 281 | { |
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| 282 | case UART0_MKGPS: |
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| 283 | UBX_Parser(c); // if connected to GPS forward byte to ubx parser |
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| 110 | killagreg | 284 | MKProtocol_CollectSerialFrame(&UART0_rx_buffer, c); // ckeck for MK-Frames also |
| 41 | ingob | 285 | break; |
| 286 | case UART0_MK3MAG: |
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| 287 | // ignore any byte send from MK3MAG |
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| 288 | break; |
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| 289 | case UART0_UNDEF: |
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| 290 | default: |
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| 291 | // ignore the byte from unknown source |
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| 292 | break; |
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| 293 | } // eof switch(UART0_Muxer) |
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| 294 | } // eof while |
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| 295 | } // eof UART0 is not the DebugUART |
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| 296 | } // eof receive irq or receive timeout irq |
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| 297 | } |
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| 110 | killagreg | 298 | |
| 299 | /**************************************************************/ |
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| 300 | /* Process incomming data from debug uart */ |
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| 301 | /**************************************************************/ |
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| 302 | void UART0_ProcessRxData(void) |
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| 303 | { |
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| 304 | SerialMsg_t SerialMsg; |
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| 305 | // if data in the rxd buffer are not locked immediately return |
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| 306 | if((UART0_rx_buffer.Locked == FALSE) || (DebugUART == UART0) ) return; |
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| 307 | |||
| 308 | MKProtocol_DecodeSerialFrame(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
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| 309 | |||
| 310 | switch(SerialMsg.Address) // check for Slave Address |
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| 311 | { |
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| 312 | case NC_ADDRESS: // own Slave Address |
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| 313 | switch(SerialMsg.CmdID) |
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| 314 | { |
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| 315 | default: |
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| 316 | break; |
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| 317 | } // case NC_ADDRESS |
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| 318 | // "break;" is missing here to fall thru to the common commands |
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| 319 | |||
| 320 | default: // and any other Slave Address |
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| 321 | |||
| 322 | switch(SerialMsg.CmdID) // check CmdID |
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| 323 | { |
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| 324 | case 'o': // request for navigation information |
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| 325 | UART0_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
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| 326 | if(UART0_NaviData_Interval > 0) UART0_Request_NaviData = TRUE; |
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| 327 | break; |
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| 328 | |||
| 329 | case 'v': // request for version info |
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| 330 | UART0_Request_VersionInfo = TRUE; |
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| 331 | break; |
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| 332 | default: |
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| 333 | // unsupported command recieved |
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| 334 | break; |
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| 335 | } |
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| 336 | break; // default: |
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| 337 | } |
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| 338 | // unlock the rxd buffer after processing |
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| 339 | UART0_rx_buffer.Position = 0; |
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| 340 | UART0_rx_buffer.Locked = FALSE; |
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| 341 | } |
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| 342 | |||
| 343 | /**************************************************************/ |
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| 344 | /* Transmit tx buffer via uart0 */ |
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| 345 | /**************************************************************/ |
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| 346 | void UART0_Transmit(void) |
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| 347 | { |
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| 348 | u8 tmp_tx; |
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| 349 | if(DebugUART == UART0) return; // no data output if debug uart is rederected to UART0 |
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| 350 | // if something has to be send and the txd fifo is not full |
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| 351 | if((UART0_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART0, UART_FLAG_TxFIFOFull) == RESET)) |
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| 352 | { |
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| 353 | tmp_tx = UART0_tx_buffer.pData[UART0_tx_buffer.Position++]; // read next byte from txd buffer |
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| 354 | UART_SendData(UART0, tmp_tx); // put character to txd fifo |
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| 355 | // if terminating character or end of txd buffer reached |
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| 356 | if((tmp_tx == '\r') || (UART0_tx_buffer.Position == UART0_tx_buffer.Size)) |
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| 357 | { |
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| 358 | UART0_tx_buffer.Position = 0; // reset txd buffer positon |
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| 359 | UART0_tx_buffer.Locked = FALSE;// unlock tx buffer |
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| 360 | } |
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| 361 | } |
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| 362 | } |
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| 363 | |||
| 364 | |||
| 365 | /**************************************************************/ |
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| 366 | /* Send the answers to incomming commands at the uart0 */ |
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| 367 | /**************************************************************/ |
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| 368 | void UART0_TransmitTxData(void) |
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| 369 | { |
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| 370 | if(DebugUART == UART0) return; |
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| 371 | UART0_Transmit(); // output pending bytes in tx buffer |
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| 372 | if(UART0_tx_buffer.Locked == TRUE) return; |
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| 373 | |||
| 374 | if(( (UART0_NaviData_Interval && CheckDelay(UART0_NaviData_Timer) ) || UART0_Request_NaviData) && (UART0_tx_buffer.Locked == FALSE)) |
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| 375 | { |
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| 376 | NaviData.Errorcode = ErrorCode; |
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| 377 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
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| 378 | UART0_NaviData_Timer = SetDelay(UART0_NaviData_Interval); |
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| 379 | UART0_Request_NaviData = FALSE; |
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| 380 | } |
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| 381 | UART0_Transmit(); // output pending bytes in tx buffer |
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| 382 | } |