0,0 → 1,772 |
/*#######################################################################################*/ |
/* !!! THIS IS NOT FREE SOFTWARE !!! */ |
/*#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 2008 Ingo Busker, Holger Buss |
// + Nur für den privaten Gebrauch |
// + FOR NON COMMERCIAL USE ONLY |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
// |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <stdio.h> |
#include <stdarg.h> |
#include <string.h> |
|
#include "91x_lib.h" |
#include "ramfunc.h" |
#include "menu.h" |
#include "printf_P.h" |
#include "GPS.h" |
#include "i2c.h" |
#include "uart0.h" |
#include "uart1.h" |
#include "uart2.h" |
#include "timer.h" |
#include "usb.h" |
#include "main.h" |
#include "waypoints.h" |
#include "GPS.h" |
|
// slave addresses |
#define FC_ADDRESS 1 |
#define NC_ADDRESS 2 |
#define MK3MAG_ADDRESS 3 |
|
#define FALSE 0 |
#define TRUE 1 |
|
u8 Request_SendFollowMe = FALSE; |
u8 Request_VerInfo = FALSE; |
u8 Request_ExternalControl = FALSE; |
u8 Request_Display = FALSE; |
u8 Request_Display1 = FALSE; |
u8 Request_DebugData = FALSE; |
u8 Request_DebugLabel = 255; |
u8 Request_ChannelOnly = FALSE; |
u8 Request_NaviData = FALSE; |
u8 Request_ErrorMessage = FALSE; |
u8 Request_NewWaypoint = FALSE; |
u8 Request_Data3D = FALSE; |
|
u8 DisplayLine = 0; |
|
UART_TypeDef *DebugUART = UART1; |
|
volatile u8 txd_buffer[TXD_BUFFER_LEN]; |
volatile u8 rxd_buffer_locked = FALSE; |
volatile u8 rxd_buffer[RXD_BUFFER_LEN]; |
volatile u8 txd_complete = TRUE; |
volatile u8 ReceivedBytes = 0; |
volatile u8 CntCrcError = 0; |
volatile u8 *pRxData = NULL; |
volatile u8 RxDataLen = 0; |
|
u8 text[100]; |
|
u8 PcAccess = 100; |
u8 MotorTest[4] = {0,0,0,0}; |
u8 ConfirmFrame = 0; |
|
DebugOut_t DebugOut; |
ExternControl_t ExternControl; |
UART_VersionInfo_t UART_VersionInfo; |
NaviData_t NaviData; |
Waypoint_t FollowMe; |
Data3D_t Data3D; |
|
u32 DebugData_Timer; |
u32 DebugData_Interval = 1000; // in ms |
u32 NaviData_Timer; |
u32 NaviData_Interval = 1000; // in ms |
u32 Data3D_Timer = 0; // in ms |
u32 Data3D_Interval = 0; |
|
static u16 ptr_txd_buffer = 0; |
|
const u8 ANALOG_LABEL[32][16] = |
{ |
//1234567890123456 |
"AngleNick ", //0 |
"AngleRoll ", |
"AccNick ", |
"AccRoll ", |
" ", |
" ", //5 |
" ", |
" ", |
" ", |
"GPS Data ", |
"CompassHeading ", //10 |
"GyroHeading ", |
"SPI Error ", |
"SPI Okay ", |
"I2C Error ", |
"I2C Okay ", //15 |
" ",// "FC_Kalman_K ", |
"ACC_Speed_N ", |
"ACC_Speed_E ", |
" ",// "GPS ACC ", |
" ",// "MAXDrift ", //20 |
"N_Speed ", |
"E_Speed ", |
" ",// "KalmDist_N ", |
" ",// "KalmDist_E ", |
" ",//25 |
" ", |
"Distance N ", |
"Distance E ", |
"GPS_Nick ", |
"GPS_Roll ", //30 |
"Used_Sats " |
}; |
|
|
/********************************************************/ |
/* Initialization the UART1 */ |
/********************************************************/ |
void UART1_Init (void) |
{ |
GPIO_InitTypeDef GPIO_InitStructure; |
UART_InitTypeDef UART_InitStructure; |
|
SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
|
/*Configure UART1_Rx pin GPIO3.2*/ |
GPIO_StructInit(&GPIO_InitStructure); |
GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
GPIO_Init(GPIO3, &GPIO_InitStructure); |
|
/*Configure UART1_Tx pin GPIO3.3*/ |
GPIO_StructInit(&GPIO_InitStructure); |
GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
GPIO_Init(GPIO3, &GPIO_InitStructure); |
|
/* UART1 configured as follow: |
- Word Length = 8 Bits |
- One Stop Bit |
- No parity |
- BaudRate = 57600 baud |
- Hardware flow control Disabled |
- Receive and transmit enabled |
- Receive and transmit FIFOs are Disabled |
*/ |
UART_StructInit(&UART_InitStructure); |
UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
UART_InitStructure.UART_StopBits = UART_StopBits_1; |
UART_InitStructure.UART_Parity = UART_Parity_No ; |
UART_InitStructure.UART_BaudRate = BAUD_RATE; |
UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
|
UART_DeInit(UART1); // reset uart 1 to default |
UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
// enable uart 1 interrupts selective |
UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
UART_Cmd(UART1, ENABLE); // enable uart 1 |
// configure the uart 1 interupt line as an IRQ with priority 4 (0 is highest) |
VIC_Config(UART1_ITLine, VIC_IRQ, 4); |
// enable the uart 1 IRQ |
VIC_ITCmd(UART1_ITLine, ENABLE); |
// initialize the debug timer |
DebugData_Timer = SetDelay(DebugData_Interval); |
NaviData_Timer = SetDelay(NaviData_Interval)+500; |
// unlock rxd_buffer |
rxd_buffer_locked = FALSE; |
pRxData = NULL; |
RxDataLen = 0; |
// no bytes to send |
txd_complete = TRUE; |
// Fill Version Info Structure |
UART_VersionInfo.SWMajor = VERSION_MAJOR; |
UART_VersionInfo.SWMinor = VERSION_MINOR; |
UART_VersionInfo.SWPatch = VERSION_PATCH; |
UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
|
SerialPutString("\r\nUART1 init...ok"); |
} |
|
|
/****************************************************************/ |
/* USART1 receiver ISR */ |
/****************************************************************/ |
void UART1_IRQHandler(void) |
{ |
static u16 crc; |
static u8 ptr_rxd_buffer = 0; |
static u8 crc1, crc2; |
static u8 abortState = 0; |
u8 c; |
|
if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
{ |
// clear the pending bits |
UART_ClearITPendingBit(UART1, UART_IT_Receive); |
UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
// if debug UART is not UART1 |
if (DebugUART != UART1) |
{ // forward received data to the debug UART tx buffer |
while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
{ |
// wait for space in the tx buffer of the DebugUART |
while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
// move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
c = UART_ReceiveData(UART1); |
|
// check for abort condition (ESC ESC 0x55 0xAA 0x00) |
switch (abortState) |
{ |
case 0: if (c == 27) abortState++; |
break; |
case 1: if (c == 27) abortState++; else abortState = 0; |
break; |
case 2: if (c == 0x55) abortState++; else abortState = 0; |
break; |
case 3: if (c == 0xAA) abortState++; else abortState = 0; |
break; |
case 4: if (c == 0x00) |
{ |
DebugUART = UART1; |
UART0_Connect_to_MKGPS(); |
} |
abortState = 0; |
break; |
} |
|
if (DebugUART != UART1) UART_SendData(DebugUART, c); |
} |
} |
else // DebugUART == UART1 (normal operation) |
{ |
while ((UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) && (!rxd_buffer_locked)) |
{ // some byes in the fifo and rxd buffer not locked |
// get byte from fifo |
c = UART_ReceiveData(UART1); |
if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
{ |
rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
crc = c; // init crc |
} |
#if 0 |
else if (ptr_rxd_buffer == 1) // handle address |
{ |
rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
crc += c; // update crc |
} |
#endif |
else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // rxd buffer not full |
{ |
if (c != '\r') // no termination character received |
{ |
rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
crc += c; // update crc |
} |
else // termination character received |
{ |
// the last 2 bytes are no subject for checksum calculation |
// they are the checksum itself |
crc -= rxd_buffer[ptr_rxd_buffer-2]; |
crc -= rxd_buffer[ptr_rxd_buffer-1]; |
// calculate checksum from transmitted data |
crc %= 4096; |
crc1 = '=' + crc / 64; |
crc2 = '=' + crc % 64; |
// compare checksum to transmitted checksum bytes |
if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
{ // checksum valid |
rxd_buffer_locked = TRUE; // lock the rxd buffer |
ReceivedBytes = ptr_rxd_buffer + 1; // store number of received bytes |
rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
// if 2nd byte is an 'R' start bootloader |
if(rxd_buffer[2] == 'R') |
{ |
PowerOff(); |
VIC_DeInit(); |
Execute_Bootloader(); // Reset-Commando - Bootloader starten |
} |
} // eof checksum valid |
else |
{ // checksum invalid |
rxd_buffer_locked = FALSE; // unlock rxd buffer |
} // eof checksum invalid |
ptr_rxd_buffer = 0; // reset rxd buffer pointer |
} // eof termination character received |
} // rxd buffer not full |
else // rxd buffer overrun |
{ |
ptr_rxd_buffer = 0; // reset rxd buffer pointer |
rxd_buffer_locked = FALSE; // unlock rxd buffer |
} // eof rxd buffer overrrun |
} // some byes in the fifo and rxd buffer not locked |
} // eof DebugUart = UART1 |
} |
} |
|
/**************************************************************/ |
/* Transmit tx buffer via debug uart */ |
/**************************************************************/ |
void UART1_Transmit(void) |
{ |
u8 tmp_tx; |
// if something has to be send and the txd fifo is not full |
if((!txd_complete) && (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == RESET)) |
{ |
tmp_tx = txd_buffer[ptr_txd_buffer]; // read byte from txd buffer |
// if terminating character or end of txd buffer reached |
if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
{ |
ptr_txd_buffer = 0; // reset txd buffer pointer |
txd_complete = TRUE;// set complete flag |
} |
UART_SendData(UART1, tmp_tx); // put character to txd fifo |
// set pointer to next byte |
ptr_txd_buffer++; |
} |
} |
|
/**************************************************************/ |
/* Add CRC and initiate transmission via debug uart */ |
/**************************************************************/ |
void AddCRC(u16 datalen) |
{ |
u16 tmpCRC = 0, i; |
for(i = 0; i < datalen; i++) |
{ |
tmpCRC += txd_buffer[i]; |
} |
tmpCRC %= 4096; |
txd_buffer[i++] = '=' + tmpCRC / 64; |
txd_buffer[i++] = '=' + tmpCRC % 64; |
txd_buffer[i++] = '\r'; |
|
ptr_txd_buffer = 0; |
txd_complete = FALSE; |
UART_SendData(UART1, txd_buffer[ptr_txd_buffer++]); // send first byte, to be continued in the txd irq |
} |
|
|
|
/**************************************************************/ |
/* Code output data */ |
/**************************************************************/ |
void SendOutData(u8 cmd, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, .... |
{ |
va_list ap; |
|
u16 pt = 0; |
u8 a,b,c; |
u8 ptr = 0; |
|
u8* pdata = NULL; |
int len = 0; |
|
txd_buffer[pt++] = '#'; // Start character |
txd_buffer[pt++] = 'a' + Address; // Address (a=0; b=1,...) |
txd_buffer[pt++] = cmd; // Command |
|
va_start(ap, numofbuffers); |
if(numofbuffers) |
{ |
pdata = va_arg(ap, u8*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
while(len) |
{ |
if(len) |
{ |
a = pdata[ptr++]; |
len--; |
if((!len) && numofbuffers) // try to jump to next buffer |
{ |
pdata = va_arg(ap, u8*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
} |
else a = 0; |
if(len) |
{ |
b = pdata[ptr++]; |
len--; |
if((!len) && numofbuffers) // try to jump to next buffer |
{ |
pdata = va_arg(ap, u8*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
} |
else b = 0; |
if(len) |
{ |
c = pdata[ptr++]; |
len--; |
if((!len) && numofbuffers) // try to jump to next buffer |
{ |
pdata = va_arg(ap, u8*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
} |
else c = 0; |
txd_buffer[pt++] = '=' + (a >> 2); |
txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
txd_buffer[pt++] = '=' + ( c & 0x3f); |
} |
va_end(ap); |
AddCRC(pt); // add checksum after data block and initates the transmission |
} |
|
|
/**************************************************************/ |
/* Decode data */ |
/**************************************************************/ |
void Decode64(void) |
{ |
u8 a,b,c,d; |
u8 x,y,z; |
u8 ptrIn = 3; // start with first data byte in rx buffer |
u8 ptrOut = 3; |
u8 len = ReceivedBytes - 6; // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload ) |
while(len) |
{ |
a = rxd_buffer[ptrIn++] - '='; |
b = rxd_buffer[ptrIn++] - '='; |
c = rxd_buffer[ptrIn++] - '='; |
d = rxd_buffer[ptrIn++] - '='; |
//if(ptrIn > ReceivedBytes - 3) break; |
|
x = (a << 2) | (b >> 4); |
y = ((b & 0x0f) << 4) | (c >> 2); |
z = ((c & 0x03) << 6) | d; |
|
if(len--) rxd_buffer[ptrOut++] = x; else break; |
if(len--) rxd_buffer[ptrOut++] = y; else break; |
if(len--) rxd_buffer[ptrOut++] = z; else break; |
} |
pRxData = &rxd_buffer[3]; |
RxDataLen = ptrOut - 3; |
} |
|
/**************************************************************/ |
/* Process incomming data from debug uart */ |
/**************************************************************/ |
void UART1_ProcessRxData(void) |
{ |
// if data in the rxd buffer are not locked immediately return |
if((!rxd_buffer_locked) || (DebugUART != UART1) ) return; |
Waypoint_t * pWaypoint = NULL; |
|
|
|
PcAccess = 255; |
Decode64(); // decode data block in rxd buffer |
switch(rxd_buffer[1] - 'a') // check for Slave Address |
{ |
case NC_ADDRESS: // own Slave Address |
|
switch(rxd_buffer[2]) |
{ |
case 'e': // request for the text of the error status |
Request_ErrorMessage = TRUE; |
break; |
|
case 's':// new target position |
pWaypoint = (Waypoint_t*)&pRxData[0]; |
BeepTime = 300; |
if(pWaypoint->Position.Status == NEWDATA) |
{ |
WPList_Clear(); // empty WPList |
WPList_Append(pWaypoint); |
GPS_pWaypoint = WPList_Begin(); |
} |
break; |
|
case 'u': // redirect debug uart |
switch(pRxData[0]) |
{ |
case UART_FLIGHTCTRL: |
UART2_Init(); // initialize UART2 to FC pins |
DebugUART = UART2; |
break; |
case UART_MK3MAG: |
if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
GPSData.Status = INVALID; |
DebugUART = UART0; |
break; |
case UART_MKGPS: |
if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
GPSData.Status = INVALID; |
DebugUART = UART0; |
break; |
} |
break; |
|
case 'w':// new PCPosition for GPSTargetList |
pWaypoint = (Waypoint_t*)&pRxData[0]; |
if(pWaypoint->Position.Status == INVALID) |
{ // clear WP List |
WPList_Clear(); |
GPS_pWaypoint = WPList_Begin(); |
//SerialPutString("\r\nClear WP List\r\n"); |
} |
else if (pWaypoint->Position.Status == NEWDATA) |
{ // app current WP to the list |
WPList_Append(pWaypoint); |
BeepTime = 500; |
//SerialPutString("\r\nAdd WP to List\r\n"); |
} |
Request_NewWaypoint = TRUE; |
break; |
|
default: |
// unsupported command recieved |
break; |
} // case NC_ADDRESS |
// "break;" is missing here to fall thru to the common commands |
|
default: // and any other Slave Address |
|
switch(rxd_buffer[2]) // check CmdID |
{ |
case 'a':// request for the labels of the analog debug outputs |
Request_DebugLabel = pRxData[0]; |
if(Request_DebugLabel > 31) Request_DebugLabel = 31; |
break; |
|
case 'b': // submit extern control |
memcpy(&ExternControl, (u8*)&pRxData[0], sizeof(ExternControl)); |
ConfirmFrame = ExternControl.Frame; |
break; |
|
case 'd': // request for debug data; |
DebugData_Interval = (u32) pRxData[0] * 10; |
if(DebugData_Interval > 0) Request_DebugData = TRUE; |
break; |
|
case 'c': // request for 3D data; |
Data3D_Interval = (u32) pRxData[0] * 10; |
if(Data3D_Interval > 0) Request_Data3D = TRUE; |
break; |
|
case 'g':// request for external control data |
Request_ExternalControl = TRUE; |
break; |
|
case 'h':// reqest for display line |
RemoteKeys |= pRxData[0]; |
if(RemoteKeys != 0) DisplayLine = 0; |
Request_Display = TRUE; |
break; |
|
case 'l':// reqest for display columns |
MenuItem = pRxData[0]; |
Request_Display1 = TRUE; |
break; |
|
case 'o': // request for navigation information |
NaviData_Interval = (u32) pRxData[0] * 10; |
if(NaviData_Interval > 0) Request_NaviData = TRUE; |
break; |
|
case 'v': // request for version info |
Request_VerInfo = TRUE; |
break; |
default: |
// unsupported command recieved |
break; |
} |
break; // default: |
} |
// unlock the rxd buffer after processing |
pRxData = NULL; |
RxDataLen = 0; |
rxd_buffer_locked = FALSE; |
} |
|
|
/*****************************************************/ |
/* Send a character */ |
/*****************************************************/ |
s16 uart_putchar (char c) |
{ |
if (c == '\n') uart_putchar('\r'); |
// wait until txd fifo is not full |
while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
// transmit byte |
UART_SendData(UART1, c); |
return (0); |
} |
|
/*****************************************************/ |
/* Send a string to the debug uart */ |
/*****************************************************/ |
void SerialPutString(u8 *s) |
{ |
if(s == NULL) return; |
while (*s != '\0' && DebugUART == UART1) |
{ |
uart_putchar(*s); |
s ++; |
} |
} |
|
|
|
/**************************************************************/ |
/* Send the answers to incomming commands at the debug uart */ |
/**************************************************************/ |
void UART1_TransmitTxData(void) |
{ |
if(!txd_complete || (DebugUART != UART1) ) return; |
|
if(Request_DebugLabel != 0xFF) |
{ |
SendOutData('A', NC_ADDRESS, 2, &Request_DebugLabel, sizeof(Request_DebugLabel), (u8 *) ANALOG_LABEL[Request_DebugLabel], 16); |
Request_DebugLabel = 0xFF; |
} |
if(ConfirmFrame && txd_complete) |
{ |
SendOutData('B', NC_ADDRESS, 1, &ConfirmFrame, sizeof(ConfirmFrame)); |
ConfirmFrame = 0; |
} |
if( (( (DebugData_Interval > 0) && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete) |
{ |
SendOutData('D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
DebugData_Timer = SetDelay(DebugData_Interval); |
Request_DebugData = FALSE; |
} |
|
if((( (Data3D_Interval > 0) && CheckDelay(Data3D_Timer) ) || Request_Data3D) && txd_complete) |
{ |
SendOutData('C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
Data3D_Timer = SetDelay(Data3D_Interval); |
Request_Data3D = FALSE; |
} |
|
if(Request_ExternalControl && txd_complete) |
{ |
SendOutData('G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
Request_ExternalControl = FALSE; |
} |
if(Request_Display && txd_complete) |
{ |
LCD_PrintMenu(); |
SendOutData('H', NC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (u8*)&DisplayBuff[DisplayLine * 20], 20); |
DisplayLine++; |
if(DisplayLine >= 4) DisplayLine = 0; |
Request_Display = FALSE; |
} |
if(Request_Display1 && txd_complete) |
{ |
LCD_PrintMenu(); |
SendOutData('L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
Request_Display1 = FALSE; |
} |
if(Request_VerInfo && txd_complete) |
{ |
SendOutData('V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
Request_VerInfo = FALSE; |
} |
if(( (NaviData_Interval && CheckDelay(NaviData_Timer) ) || Request_NaviData) && txd_complete) |
{ |
NaviData.Errorcode = ErrorCode; |
SendOutData('O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
if (DebugUART == UART1) SendOutData0('O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
NaviData_Timer = SetDelay(NaviData_Interval); |
Request_NaviData = FALSE; |
} |
if(Request_ErrorMessage && txd_complete) |
{ |
SendOutData('E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
Request_ErrorMessage = FALSE; |
} |
if(Request_SendFollowMe && txd_complete && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
{ |
GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
FollowMe.Position.Status = NEWDATA; |
FollowMe.Heading = -1; |
FollowMe.ToleranceRadius = 1; |
FollowMe.HoldTime = 60; |
FollowMe.Event_Flag = 0; |
FollowMe.reserve[0] = 0; // reserve |
FollowMe.reserve[1] = 0; // reserve |
FollowMe.reserve[2] = 0; // reserve |
FollowMe.reserve[3] = 0; // reserve |
SendOutData('s', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
Request_SendFollowMe = FALSE; |
} |
|
if(Request_NewWaypoint && txd_complete) |
{ |
u8 WPNumber = WPList_GetCount(); |
SendOutData('W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
Request_NewWaypoint = FALSE; |
} |
|
} |
|