0,0 → 1,759 |
/*#######################################################################################*/ |
/* !!! THIS IS NOT FREE SOFTWARE !!! */ |
/*#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 2008 Ingo Busker, Holger Buss |
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
// + 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 oder Nutzung 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 the sources to other systems or using the software on other systems (except 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 "config.h" |
#include "menu.h" |
#include "GPS.h" |
#include "i2c.h" |
#include "uart0.h" |
#include "uart1.h" |
#include "uart2.h" |
#include "timer1.h" |
#include "timer2.h" |
#include "analog.h" |
#include "main.h" |
#include "waypoints.h" |
#include "mkprotocol.h" |
#include "params.h" |
#include "fifo.h" |
|
#define FALSE 0 |
#define TRUE 1 |
|
#define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
u32 UART1_AboTimeOut = 0; |
|
u8 UART1_Request_VersionInfo = FALSE; |
u8 UART1_Request_SendFollowMe = FALSE; |
u8 UART1_Request_ExternalControl= FALSE; |
u8 UART1_Request_Display = FALSE; |
u8 UART1_Request_Display1 = FALSE; |
u8 UART1_Request_DebugData = FALSE; |
u8 UART1_Request_DebugLabel = 255; |
u8 UART1_Request_NaviData = FALSE; |
u8 UART1_Request_ErrorMessage = FALSE; |
u8 UART1_Request_NewWaypoint = FALSE; |
u8 UART1_Request_ReadWaypoint = 255; |
u8 UART1_Request_Data3D = FALSE; |
u8 UART1_Request_Echo = FALSE; |
u8 UART1_Request_ParameterId = 0; |
u8 UART1_Request_Parameter = FALSE; |
u8 UART1_DisplayKeys = 0; |
u8 UART1_DisplayLine = 0; |
u8 UART1_ConfirmFrame = 0; |
|
UART_TypeDef *DebugUART = UART1; |
|
// the primary rx fifo |
#define UART1_RX_FIFO_LEN 1024 |
u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
fifo_t UART1_rx_fifo; |
|
// the rx buffer |
#define UART1_RX_BUFFER_LEN 150 |
u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
Buffer_t UART1_rx_buffer; |
|
// the tx buffer |
#define UART1_TX_BUFFER_LEN 150 |
u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
Buffer_t UART1_tx_buffer; |
|
|
|
volatile u8 SerialLinkOkay = 0; |
|
u8 text[200]; |
|
const u8 ANALOG_LABEL[32][16] = |
{ |
//1234567890123456 |
"AngleNick ", //0 |
"AngleRoll ", |
"AccNick ", |
"AccRoll ", |
" ", |
"FC-Flags ", //5 |
"NC-Flags ", |
"NickServo ", |
"RollServo ", |
"GPS Data ", |
"CompassHeading ", //10 |
"GyroHeading ", |
"SPI Error ", |
"SPI Okay ", |
"I2C Error ", |
"I2C Okay ", //15 |
" ",// "Kalman_K ", |
"ACC_Speed_N ", |
"ACC_Speed_E ", |
"Speed_z ",// "GPS ACC ", |
" ",// "MAXDrift ", //20 |
"N_Speed ", |
"E_Speed ", |
"P-Part ", |
"I-Part ", |
"D-Part ",//25 |
"PID-Part ", |
"Distance N ", |
"Distance E ", |
"GPS_Nick ", |
"GPS_Roll ", //30 |
"Used_Sats " |
}; |
|
DebugOut_t DebugOut; |
ExternControl_t ExternControl; |
UART_VersionInfo_t UART_VersionInfo; |
NaviData_t NaviData; |
Waypoint_t FollowMe; |
Data3D_t Data3D; |
u16 Echo; // 2 bytes recieved will be sent back as echo |
|
u32 UART1_DebugData_Timer = 0; |
u32 UART1_DebugData_Interval = 0; // in ms |
u32 UART1_NaviData_Timer = 0; |
u32 UART1_NaviData_Interval = 0; // in ms |
u32 UART1_Data3D_Timer = 0; |
u32 UART1_Data3D_Interval = 0; // in ms |
u32 UART1_Display_Timer = 0; |
u32 UART1_Display_Interval = 0; // in ms |
|
/********************************************************/ |
/* Initialization the UART1 */ |
/********************************************************/ |
void UART1_Init (void) |
{ |
GPIO_InitTypeDef GPIO_InitStructure; |
UART_InitTypeDef UART_InitStructure; |
|
// initialize txd buffer |
Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
|
// initialize rxd buffer |
Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
|
// initialize the rx fifo |
fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN); |
|
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_IPInputConnected = GPIO_IPInputConnected_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 = UART1_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 |
VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
// enable the uart 1 IRQ |
VIC_ITCmd(UART1_ITLine, ENABLE); |
|
// initialize the debug timer |
UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
|
// 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; |
|
NaviData.Version = NAVIDATA_VERSION; |
|
UART1_PutString("\r\nUART1 init...ok"); |
} |
|
|
/****************************************************************/ |
/* USART1 receiver ISR */ |
/****************************************************************/ |
void UART1_IRQHandler(void) |
{ |
static u8 abortState = 0; |
u8 c; |
|
IENABLE; |
|
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) |
{ |
// 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) |
{ |
if(DebugUART == UART0) |
{ |
UART0_Connect_to_MKGPS(); |
TIMER2_Init(); // enbable servo outputs |
fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
} |
DebugUART = UART1; |
} |
abortState = 0; |
break; |
} // end switch abort state |
// if the Debug uart is not UART1, redirect input to the Debug UART |
if (DebugUART != UART1) |
{ |
// wait for space in the tx buffer of the DebugUART |
while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
// move byte to the tx fifo of the debug uart |
UART_SendData(DebugUART, c); |
} |
} |
} |
else // DebugUART == UART1 (normal operation) |
{ |
while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
{ // some byes in the hardware fifo |
// get byte from hardware fifo |
c = UART_ReceiveData(UART1); |
// put into the software fifo |
if(!fifo_put(&UART1_rx_fifo, c)) |
{ // fifo overflow |
//fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
} |
} // EOF while some byes in the hardware fifo |
} // eof DebugUart = UART1 |
} |
|
IDISABLE; |
} |
|
/**************************************************************/ |
/* Process incomming data from debug uart */ |
/**************************************************************/ |
void UART1_ProcessRxData(void) |
{ |
// return on forwarding uart or unlocked rx buffer |
if(DebugUART != UART1) return; |
|
u8 c; |
// if rx buffer is not locked |
if(UART1_rx_buffer.Locked == FALSE) |
{ //collect data from primary rx fifo |
while(fifo_get(&UART1_rx_fifo, &c)) |
{ // break if complete frame is collected |
if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
} |
} |
if(UART1_rx_buffer.Locked == FALSE) return; |
|
Waypoint_t * pWaypoint = NULL; |
SerialMsg_t SerialMsg; |
|
// analyze header first |
MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
if( SerialMsg.Address == FC_ADDRESS ) |
{ |
switch(SerialMsg.CmdID) |
{ |
case 'y': // serial poti values |
case 'b': // extern control |
Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
return; //end process rx data |
break; |
} |
} |
|
MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
switch(SerialMsg.Address) // check for Slave Address |
{ |
case NC_ADDRESS: // own Slave Address |
switch(SerialMsg.CmdID) |
{ |
case 'z': // connection checker |
memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
UART1_Request_Echo = TRUE; |
break; |
|
case 'e': // request for the text of the error status |
UART1_Request_ErrorMessage = TRUE; |
break; |
|
case 's':// new target position |
pWaypoint = (Waypoint_t*)SerialMsg.pData; |
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(SerialMsg.pData[0]) |
{ |
case UART_FLIGHTCTRL: |
UART2_Init(); // initialize UART2 to FC pins |
fifo_purge(&UART1_rx_fifo); |
TIMER2_Deinit(); // reduce irq load |
DebugUART = UART2; |
break; |
case UART_MK3MAG: |
if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running |
UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
GPSData.Status = INVALID; |
fifo_purge(&UART1_rx_fifo); |
DebugUART = UART0; |
break; |
case UART_MKGPS: |
if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running |
TIMER2_Deinit(); // disable servo outputs to reduce irq load |
UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
GPSData.Status = INVALID; |
fifo_purge(&UART1_rx_fifo); |
DebugUART = UART0; |
break; |
default: |
break; |
} |
break; |
|
case 'w':// Append Waypoint to List |
{ |
static u8 oldIndex = 0x00; |
|
pWaypoint = (Waypoint_t*)SerialMsg.pData; |
if(pWaypoint->Position.Status == INVALID) |
{ // clear WP List |
WPList_Clear(); |
oldIndex = 0x00; |
GPS_pWaypoint = WPList_Begin(); |
UART1_Request_NewWaypoint = TRUE; |
} |
else if (pWaypoint->Position.Status == NEWDATA) |
{ // app current WP to the list |
if (pWaypoint->Index == oldIndex + 1) |
{ |
WPList_Append(pWaypoint); |
BeepTime = 500; |
oldIndex = pWaypoint->Index; |
UART1_Request_NewWaypoint = TRUE; |
} |
} |
} |
break; |
|
case 'x':// Read Waypoint from List |
UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
break; |
|
case 'j':// Set/Get NC-Parameter |
switch(SerialMsg.pData[0]) |
{ |
case 0: // get |
break; |
|
case 1: // set |
{ |
s16 value; |
value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
NCParams_SetValue(SerialMsg.pData[1], &value); |
} |
break; |
|
default: |
break; |
} |
UART1_Request_ParameterId = SerialMsg.pData[1]; |
UART1_Request_Parameter = 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(SerialMsg.CmdID) // check CmdID |
{ |
case 'a':// request for the labels of the analog debug outputs |
UART1_Request_DebugLabel = SerialMsg.pData[0]; |
if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
break; |
/* |
case 'b': // submit extern control |
memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
UART1_ConfirmFrame = ExternControl.Frame; |
break; |
*/ |
case 'd': // request for debug data; |
UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
break; |
|
case 'c': // request for 3D data; |
UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
break; |
/* |
case 'g':// request for external control data |
UART1_Request_ExternalControl = TRUE; |
break; |
*/ |
case 'h':// reqest for display line |
if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
{ |
UART1_DisplayLine = 2; |
UART1_Display_Interval = 0; |
} |
else |
{ |
UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
UART1_DisplayLine = 4; |
UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
} |
UART1_Request_Display = TRUE; |
break; |
|
case 'l':// reqest for display columns |
MenuItem = SerialMsg.pData[0]; |
UART1_Request_Display1 = TRUE; |
break; |
|
case 'o': // request for navigation information |
UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
break; |
|
case 'v': // request for version info |
UART1_Request_VersionInfo = TRUE; |
break; |
default: |
// unsupported command recieved |
break; |
} |
break; // default: |
} |
Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
} |
|
|
/*****************************************************/ |
/* Send a character */ |
/*****************************************************/ |
s16 UART1_Putchar(char c) |
{ |
if (c == '\n') UART1_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 UART1_PutString(u8 *s) |
{ |
if(s == NULL) return; |
while (*s != '\0' && DebugUART == UART1) |
{ |
UART1_Putchar(*s); |
s ++; |
} |
} |
|
|
/**************************************************************/ |
/* Transmit tx buffer via debug uart */ |
/**************************************************************/ |
void UART1_Transmit(void) |
{ |
u8 tmp_tx; |
if(DebugUART != UART1) return; |
// if something has to be send and the txd fifo is not full |
if(UART1_tx_buffer.Locked == TRUE) |
{ |
// while there is some space in the tx fifo |
while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
{ |
tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
UART_SendData(UART1, tmp_tx); // put character to txd fifo |
// if terminating character or end of txd buffer reached |
if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
{ |
Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
break; // end while loop |
} |
} |
} |
} |
|
/**************************************************************/ |
/* Send the answers to incomming commands at the debug uart */ |
/**************************************************************/ |
void UART1_TransmitTxData(void) |
{ |
if(DebugUART != UART1) return; |
|
if(CheckDelay(UART1_AboTimeOut)) |
{ |
UART1_DebugData_Interval = 0; |
UART1_NaviData_Interval = 0; |
UART1_Data3D_Interval = 0; |
UART1_Display_Interval = 0; |
} |
|
UART1_Transmit(); // output pending bytes in tx buffer |
if((UART1_tx_buffer.Locked == TRUE)) return; |
|
if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
{ |
s16 ParamValue; |
NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
//sprintf(text, "\r\nId=%d, value = %d\r\n", UART1_Request_ParameterId, ParamValue); |
//UART1_PutString(text); |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
UART1_Request_Parameter = FALSE; |
} |
else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
Echo = 0; // reset echo value |
UART1_Request_Echo = FALSE; |
} |
else if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE)) |
{ |
u8 WPNumber = WPList_GetCount(); |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
UART1_Request_NewWaypoint = FALSE; |
} |
else if((UART1_Request_ReadWaypoint != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
{ |
u8 WPNumber = WPList_GetCount(); |
if (UART1_Request_ReadWaypoint < WPNumber) |
{ |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &UART1_Request_ReadWaypoint, 1, WPList_GetAt(UART1_Request_ReadWaypoint), sizeof(Waypoint_t)); |
} |
else |
{ |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
} |
UART1_Request_ReadWaypoint = 0xFF; |
} |
else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
UART1_Request_DebugLabel = 0xFF; |
} |
else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
{ |
NaviData.Errorcode = ErrorCode; |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
UART1_Request_NaviData = FALSE; |
} |
else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
UART1_Request_DebugData = FALSE; |
} |
else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
UART1_Request_Data3D = FALSE; |
} |
/* |
else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
UART1_ConfirmFrame = 0; |
} |
*/ |
/* |
else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
UART1_Request_ExternalControl = FALSE; |
} |
*/ |
else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
{ |
if(UART1_DisplayLine > 3) |
{ |
Menu_Update(UART1_DisplayKeys); |
UART1_DisplayKeys = 0; |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
} |
else |
{ |
UART1_DisplayLine = 2; |
sprintf(text,"!!! incompatible !!!"); |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
} |
UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
UART1_Request_Display = FALSE; |
} |
else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
{ |
Menu_Update(0); |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
UART1_Request_Display1 = FALSE; |
} |
else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
UART1_Request_VersionInfo = FALSE; |
} |
else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
UART1_Request_ErrorMessage = FALSE; |
} |
else if(UART1_Request_SendFollowMe && (UART1_tx_buffer.Locked == FALSE) && (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.Index = 1; |
FollowMe.reserve[0] = 0; // reserve |
FollowMe.reserve[1] = 0; // reserve |
FollowMe.reserve[2] = 0; // reserve |
FollowMe.reserve[3] = 0; // reserve |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
UART1_Request_SendFollowMe = FALSE; |
} |
UART1_Transmit(); // output pending bytes in tx buffer |
} |
|