0,0 → 1,1803 |
/*#######################################################################################*/ |
/* !!! THIS IS NOT FREE SOFTWARE !!! */ |
/*#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Software Nutzungsbedingungen (english version: see below) |
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
// + des Mitverschuldens offen. |
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Software LICENSING TERMS |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
// + The Software may only be used with the Licensor's products. |
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
// + agreement shall be the property of the Licensor. |
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
// + features that can be used to identify the program may not be altered or defaced by the customer. |
// + The customer shall be responsible for taking reasonable precautions |
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
// + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
// + #### END OF LICENSING TERMS #### |
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <stdio.h> |
#include <stdlib.h> |
#include <stdarg.h> |
#include <string.h> |
|
#include "91x_lib.h" |
#include "main.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 "compass.h" |
#include "waypoints.h" |
#include "mkprotocol.h" |
#include "params.h" |
#include "fifo.h" |
#include "debug.h" |
#include "spi_slave.h" |
#include "ftphelper.h" |
#include "led.h" |
#include "fat16.h" |
#include "crc16.h" |
#include "eeprom.h" |
#include "triggerlog.h" |
#include "settings.h" |
#include "MobileMenu.h" |
#include "CamCtrl.h" |
|
#define LIC_CMD_READ_LICENSE 1 |
#define LIC_CMD_WRITE_LICENSE 2 |
#define LIC_CMD_ERASE_LICENSE 3 |
|
#define FALSE 0 |
#define TRUE 1 |
|
const u32 BAUDRATES[MAX_BD_RATES] = {1200,2400,4800,9600,14400,19200,28800,38400,57600,115200,256000}; |
|
#define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
u32 UART1_AboTimeOut = 0; |
|
NaviData_Volatile_t NaviData_Volatile; |
NaviData_WP_t NaviData_WP; |
NaviData_Deviation_t NaviData_Deviation; |
NaviData_Home_t NaviData_Home; |
NaviData_Target_t NaviData_Target; |
NaviData_Flags_t NaviData_Flags; |
NaviData_Tiny_t NaviData_Tiny; |
NaviData_FS_Pos_t NaviData_Failsafe; |
NaviData_Out_t NaviData_Out1Trigger; |
NaviData_t NaviData; |
NaviData_HoTT_Text_t NaviData_HoTT_Text; |
WP_MissionParameter_t WP_MissionParameter; |
NaviData_Laser_t NaviData_Laser; |
|
u8 UART1_Request_VersionInfo = 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_WritePoint = 0xFF; |
u8 UART1_Request_ReadPoint = 0; |
u8 UART1_Request_Data3D = FALSE; |
u8 UART1_Request_MotorData = FALSE; |
u8 UART1_Request_Echo = FALSE; |
u8 UART1_Request_ParameterId = 0; |
u8 UART1_Request_WPLStore = FALSE; |
u8 UART1_Request_Parameter = FALSE; |
u8 UART1_Request_SystemTime = FALSE; |
u8 UART1_DisplayKeys = 0; |
u8 UART1_DisplayLine = 0; |
u8 UART1_ConfirmFrame = 0; |
u8 UART1_Request_FTP = FALSE; |
u8 UART1_Request_LicenseString = FALSE; |
u8 UART1_Request_PPM_Channels = FALSE; |
u8 UART1_Request_MobileLabel = 0xff; |
u8 UART1_Request_MobileMenu = 0; |
u8 UART1_Request_MobileInfo = 0; |
u8 UART1_Request_MissonParameter = 0; |
u8 StopAllAbbos = 0; |
u8 FTP_Mode = 0; // PC initiates FTP-Mode |
u8 FromKopterToolFlags[7] = {0,0,0,0,0,0,0}; |
|
u8 LastTransmittedFCStatusFlags2 = 0; |
u8 UART1_ExternalControlConfirmFrame = FALSE; |
u8 Send_NMEA_RMC = FALSE; |
u8 NaviData_Flags_SpeakHoTT_Processed = 0; |
u8 NewExternalControlFrame = 0; // flag that sends the Frame to FC |
u16 UART1_BaudrateFallbackTimeout = 0; |
u32 Uart1Baudrate = UART1_BAUD_RATE; |
u8 FromFC_ExternalCtrlCfg = 0,FromFC_ExternalCtrlSwitch = 0; // answer from FC |
|
SerialChannel_t SerialChannel; |
u8 NewSerialChannelFrame = 0; // flag that sends the Frame to FC |
|
UART_TypeDef *DebugUART = UART1; |
|
#ifdef FOLLOW_ME |
#define FOLLOW_ME_INTERVAL 200 // 5 Hz |
#define HOME_INTERVAL 400 // 2,5 Hz |
u32 UART1_FollowMe_Timer = 0; |
Point_t FollowMe; |
#endif |
|
// the primary rx fifo |
#define UART1_RX_FIFO_LEN 1500 |
u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
fifo_t UART1_rx_fifo; |
|
// the rx buffer |
#define UART1_RX_BUFFER_LEN 1500 |
u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
Buffer_t UART1_rx_buffer; |
|
// the tx buffer |
//#define UART1_TX_BUFFER_LEN 1024 |
#define UART1_TX_BUFFER_LEN 1500 |
u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
Buffer_t UART1_tx_buffer; |
|
volatile u8 SerialLinkOkay = 0; |
|
u8 text[200]; |
u8 *LicensePtr = UART1_tbuffer; |
|
const u8 ANALOG_LABEL[32][16] = |
{ |
//1234567890123456 |
"AngleNick ", //0 |
"AngleRoll ", |
"AccNick ", |
"AccRoll ", |
"Altitude [0.1m] ", |
"FC-Flags ", //5 |
"NC-Flags ", |
"Voltage [0.1V] ", |
"Current [0.1A] ", |
"GPS Data ", |
"CompassHeading ", //10 |
"GyroHeading ", |
"SPI Error ", // achtung: muss auf 12 bleiben |
"Laser [cm] ",//"GPS CRC Error ", |
"I2C Error ", |
"I2C Okay ", //15 |
"16 ", |
"17 ", |
"18 ", |
"19 ", |
"EarthMagnet [%] ", //20 |
"Ground Speed ", // "Z_Speed ", |
"N_Speed ", |
"E_Speed ", |
"Magnet X ", |
"Magnet Y ", //25 |
"Magnet Z ", |
"Distance N ", |
"Distance E ", |
"-GPS_Nick ", |
"-GPS_Roll ", //30 |
"Used_Sats " |
}; |
|
typedef struct |
{ |
u8 Index; |
u8 Status; |
} __attribute__((packed)) WPL_Answer_t; |
WPL_Answer_t WPL_Answer; |
|
DebugOut_t DebugOut; |
ExternControl_t ExternControl; |
UART_VersionInfo_t UART_VersionInfo; |
NaviData_t NaviData; |
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 |
u16 UART1_NaviData_MaxBytes = 0; // newer protocol? |
u32 UART1_Data3D_Timer = 0; |
u32 UART1_Data3D_Interval = 0; // in ms |
u32 UART1_MotorData_Timer = 0; |
u32 UART1_MotorData_Interval = 0; // in ms |
u32 UART1_Display_Timer = 0; |
u32 UART1_Display_Interval = 0; // in ms |
u32 UART1_MobileMenu_Timer = 0; |
u32 NMEA_Timer = 0; |
u32 NMEA_Interval = 0;// in ms |
|
|
void GetBaudrateFromSdCard(u32 oldBd) |
{ |
u16 baud; |
if(Settings_GetParamValue(PID_BAUDRATE,&baud)) |
{ |
u8 i; |
Uart1Baudrate = baud * 100; |
for(i=0;i<MAX_BD_RATES;i++) if(Uart1Baudrate == BAUDRATES[i]) break; // search the index and check if it is a valid baudrate |
if(i == 0 || i >= MAX_BD_RATES) |
{ |
UART1_PutString(" Unknown!"); |
ToFcBaudrateIndex = 8; |
Uart1Baudrate = UART1_BAUD_RATE; |
} |
ToFcBaudrateIndex = i; |
WriteBaudrateIndexToEEprom(); |
if(Uart1Baudrate != oldBd) |
{ |
u8 msg[30]; |
sprintf(msg, "\r\n -> Changing Baudrate to:%iBd (%u)\n\r",Uart1Baudrate, ToFcBaudrateIndex); |
UART1_PutString(msg); |
DELAY(100); |
UART1_Init(); |
} |
} else if(oldBd != 57600) UART1_PutString("\r\n No Baudrate on the SD-Card"); |
} |
|
u8 CalculateDebugLableCrc(void) |
{ |
u16 i; |
u8 crc = 0; |
for(i=0;i<sizeof(ANALOG_LABEL);i++) crc += ANALOG_LABEL[0][i]; |
return(crc); |
} |
|
/********************************************************/ |
/* 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, block UART IRQ geting a byte from fifo |
fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
|
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); |
|
// Control of PORT3.7 (FC-UART) |
GPIO_StructInit(&GPIO_InitStructure); |
GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; |
GPIO_Init(GPIO3, &GPIO_InitStructure); |
DISABLE_FC_UART; |
|
/* 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 = Uart1Baudrate; |
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; // FIFO size 16 bytes, FIFO level 8 bytes |
|
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; |
NMEA_Timer = SetDelay(14000); |
|
// 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.HWMajor = Version_HW & 0x7F; |
UART_VersionInfo.BL_Firmware = 255; |
UART_VersionInfo.Flags = 0; |
UART_VersionInfo.LabelTextCRC = CalculateDebugLableCrc(); |
NaviData.Version = NAVIDATA_VERSION; |
|
PPM_In[PPM_IN_MAX] = +127; |
PPM_In[PPM_IN_OFF] = -127; |
PPM_In[PPM_IN_MID] = 0; |
|
// UART1_PutString("\r\n UART1 init...ok"); |
} |
|
/****************************************************************/ |
/* USART1 change baudrate */ |
/****************************************************************/ |
void UART1_Configure(u32 baudrate) |
{ |
UART_InitTypeDef UART_InitStructure; |
|
UART_Cmd(UART1, DISABLE); |
|
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 = baudrate; |
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; // FIFO size 16 bytes, FIFO level 8 bytes |
|
UART_DeInit(UART1); // reset uart 1 to default |
UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
UART_Cmd(UART1, ENABLE); // enable uart 1 |
} |
|
/****************************************************************/ |
/* USART1 receiver ISR */ |
/****************************************************************/ |
void UART1_IRQHandler(void) |
{ |
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) |
{ |
// 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(UART0_BAUD_RATE); |
TIMER2_Init(); // enbable servo outputs |
fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
} |
DebugUART = UART1; |
DISABLE_FC_UART; |
} |
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 |
} |
|
|
|
VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
} |
|
/**************************************************************/ |
/* Process incomming data from debug uart */ |
/**************************************************************/ |
void UART1_ProcessRxData(void) |
{ |
// return on forwarding uart or unlocked rx buffer |
u8 c; |
if(DebugUART != UART1) return; |
// 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; |
|
Point_t * pPoint = NULL; |
SerialMsg_t SerialMsg; |
|
// analyze header first |
MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
/* |
if( SerialMsg.Address == FC_ADDRESS ) |
{ |
switch(SerialMsg.CmdID) |
{ |
// case 'b': // extern control |
// UART1_ExternalControlConfirmFrame = 1; |
// case 'y': // serial poti values |
// 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 'n':// request for the labels of the analog debug outputs |
switch(SerialMsg.pData[0]) |
{ |
case MOBILE_LABLE: |
UART1_Request_MobileLabel = SerialMsg.pData[1]; |
if(UART1_Request_MobileLabel > MOBILE_MAX_MENU) UART1_Request_MobileLabel = MOBILE_MAX_MENU; |
break; |
case MOBILE_MENU: |
UART1_Request_MobileMenu = 1; |
memcpy(&MobileDataRequest.MenuItem, &SerialMsg.pData[1],sizeof(MobileDataRequest)); // copy |
break; |
case MOBILE_INFO: |
UART1_Request_MobileInfo = 1; |
break; |
} |
break; |
|
case 't': // request for the GPS time |
UART1_Request_SystemTime = TRUE; |
break; |
|
case 'm': // request for the license string |
UART1_Request_LicenseString = SerialMsg.pData[0]; |
if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && (UART_VersionInfo.HWMajor >= 20)) |
{ |
memcpy(LicensePtr, &SerialMsg.pData[1],LICENSE_SIZE_TEXT); // copy license |
memcpy(&LicensePtr[460], &SerialMsg.pData[1+460],OEM_NAME_LENGHT); // copy license |
} |
break; |
case 'f': // ftp command |
UART1_Request_FTP = SerialMsg.pData[0]; |
//if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
FTP_Mode = 1; |
memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
break; |
|
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 |
pPoint = (Point_t*)SerialMsg.pData; |
if(pPoint->Position.Status == NEWDATA) |
{ |
u32 start = 0; |
if(pPoint->Type == POINT_TYPE_HOME) // Set new Home-Pos. |
{ |
GPSPos_Copy_to_Home(&(pPoint->Position)); // update home position |
BeepTime = 50; |
} |
else |
{ // fly to -> FollowMe |
|
PointList_SetAt(pPoint); |
if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
if(pPoint->Index) start = pPoint->Index-1; |
if(CurrentlyFlyingWaypoints) |
{ |
GPS_pWaypoint = PointList_WPBegin(start); |
NewWaypointsReceived = 0; // Only an update |
} |
BeepTime = 50; |
} |
} |
else |
if((pPoint->Position.Status == SIMULATION) && !(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN)) |
{ |
if(pPoint->Event_Flag & SIMULATION_MOTOR_ON) |
{ |
GPSPos_Copy(&(pPoint->Position), &SimulationPosition); // update hold position |
CompassDirectionAtMotorStart = SimulatedDirection*10; |
SimulationFlags = pPoint->Event_Flag | SIMULATION_MOTOR_START; // dann steht da noch nicht "SIMULATION_MOTOR_ON" drin |
} |
if(!(SimulationFlags & SIMULATION_MOTOR_ON) && (pPoint->Event_Flag & SIMULATION_MOTOR_ON)) |
{ |
SimulationFlags = pPoint->Event_Flag | SIMULATION_MOTOR_START; // dann steht da noch nicht "SIMULATION_MOTOR_ON" drin |
SpeakHoTT = SPEAK_STARTING; |
} |
else |
if(!(pPoint->Event_Flag & SIMULATION_MOTOR_ON) && (SimulationFlags & SIMULATION_MOTOR_ON)) |
{ |
SimulationFlags = pPoint->Event_Flag; |
SpeakHoTT = SPEAK_MK_OFF; |
BeepTime = 50; |
} |
else |
SimulationFlags = pPoint->Event_Flag | (SimulationFlags & SIMULATION_MOTOR_START); |
} |
break; |
case 'u': // redirect debug uart |
switch(SerialMsg.pData[0]) |
{ |
case UART_FLIGHTCTRL: |
ENABLE_FC_UART; |
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.StatusFlags & FC_STATUS_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.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
TIMER2_Deinit(); // disable servo outputs to reduce irq load |
UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
GPSData.Status = INVALID; |
fifo_purge(&UART1_rx_fifo); |
DebugUART = UART0; |
break; |
default: |
break; |
} |
break; |
|
case 'w':// Set point in list at index |
{ |
pPoint = (Point_t*)SerialMsg.pData; |
UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
{ |
PointList_Clear(); |
GPS_pWaypoint = PointList_WPBegin(0); |
UART1_Request_WritePoint = 0; // return new point count |
NewWaypointsReceived = 1; |
} |
else |
{ // update WP in list at index |
if(pPoint->Index > MaxNumberOfWaypoints) |
{ |
UART1_Request_WritePoint = 254; |
pPoint->Index = MaxNumberOfWaypoints; |
} |
else UART1_Request_WritePoint = PointList_SetAt(pPoint); |
if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
SpeakWaypointRached = 1; // Speak once when the last Point is reached |
if(UART1_Request_WritePoint == pPoint->Index) |
{ |
BeepTime = 500; |
if(UART1_Request_WritePoint == 1) SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
} |
} |
} |
break; |
|
case 'x':// Read Waypoint from List |
UART1_Request_ReadPoint = SerialMsg.pData[0]; |
UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
break; |
|
case 'i':// Store WP List to file |
memcpy((u8*)&WPL_Store, SerialMsg.pData, sizeof(WPL_Store_t)); |
WPL_Store.Name[11] = 0; // make sure the name string is terminated |
WPL_Answer.Index = WPL_Store.Index; // echo Index in cmd answer |
WPL_Answer.Status = PointList_WriteToFile(&WPL_Store); |
UART1_Request_WPLStore = TRUE; |
break; |
|
case 'j': |
switch(SerialMsg.pData[0]) |
{ |
case 0: // Get NC-Parameter |
UART1_Request_ParameterId = SerialMsg.pData[1]; |
UART1_Request_Parameter = TRUE; |
break; |
|
case 1: // Set NC-Parameter |
{ |
s16 value; |
value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
NCParams_SetValue(SerialMsg.pData[1], &value); |
UART1_Request_ParameterId = SerialMsg.pData[1]; |
UART1_Request_Parameter = TRUE; |
} |
break; |
case 3: // Get Mission-Parameter |
UART1_Request_MissonParameter = SerialMsg.pData[0]; |
break; |
|
case 4: // Set Mission-Parameter |
memcpy(&WP_MissionParameter, &SerialMsg.pData[1], sizeof(WP_MissionParameter)); |
UART1_Request_MissonParameter = SerialMsg.pData[0]; // answer request with 4 |
WP_MissionParameter.Flags |= MISSION_DATA_RECEIVED; |
break; |
case 5: // stop all abbos |
StopAllAbbos = 1; |
break; |
|
default: |
break; |
} |
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; |
NewExternalControlFrame = 1; |
break; |
|
case 'y': // serial Channels |
memcpy(&SerialChannel, SerialMsg.pData, sizeof(SerialChannel)); |
memcpy((u8 *) &(PPM_In[SERIAL_POTI_START]), (u8 *) &SerialChannel, 12); // copy the 12 Bytes Serial Channels into the PPM_In array |
NewSerialChannelFrame = 1; |
break; |
|
case 'g':// request for the externalControl |
UART1_Request_ExternalControl = TRUE; |
break; |
|
case 'p':// request for the PPM_In |
UART1_Request_PPM_Channels = TRUE; |
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 'k': // request for Motor data; |
UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
break; |
|
case 'h':// reqest for display line |
if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
{ |
UART1_DisplayLine = 2; |
UART1_Display_Interval = 0; |
UART1_Request_Display = TRUE; |
} |
else |
{ |
UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
UART1_DisplayLine = 4; |
UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
if(UART1_Display_Interval) 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; // PC sends: 10 = 100ms or 20 = 200 (since 2.19) |
if(SerialMsg.DataLen > 2) UART1_NaviData_MaxBytes = SerialMsg.pData[1] * 256 + SerialMsg.pData[2]; // PC sends: 4 & 0 = 1024 Bytes per second and 150 if TX-Limiting is active |
else UART1_NaviData_MaxBytes = 0; |
if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
if(UART1_NaviData_Interval && UART1_NaviData_Interval < 100) UART1_NaviData_Interval = 100; |
if(SerialMsg.DataLen > 10) // since 2.21 (05.2019) |
{ |
FromKopterToolFlags[0] = SerialMsg.pData[3]; |
FromKopterToolFlags[1] = SerialMsg.pData[4]; |
FromKopterToolFlags[2] = SerialMsg.pData[5]; |
FromKopterToolFlags[3] = SerialMsg.pData[6]; |
FromKopterToolFlags[4] = SerialMsg.pData[7]; |
FromKopterToolFlags[5] = SerialMsg.pData[8]; |
FromKopterToolFlags[6] = SerialMsg.pData[9]; |
} |
break; |
|
case 'v': // request for version info |
if(SerialMsg.DataLen > 0 && SerialMsg.pData[0] == 1) UART1_Request_VersionInfo = 1; |
else UART1_Request_VersionInfo = 2; |
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) |
{ |
u32 timeout = 10000; |
if(DebugUART != UART1) return(0); |
if (c == '\n') UART1_Putchar('\r'); |
// wait until txd fifo is not full |
while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
// transmit byte |
UART_SendData(UART1, c); |
#ifdef FOLLOW_ME |
if(TransmitAlsoToFC) UART_SendData(UART2, c); |
#endif |
return (0); |
} |
|
/*****************************************************/ |
/* Send a string to the debug uart */ |
/*****************************************************/ |
void UART1_PutString(u8 *s) |
{ |
if(DebugUART != UART1) return; |
if(s == NULL) return; |
while (*s != '\0') |
{ |
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 |
#ifdef FOLLOW_ME |
if(TransmitAlsoToFC) |
{ |
UART_SendData(UART2, tmp_tx); // put character to txd fifo |
} |
#endif |
// if terminating character or end of txd buffer reached |
if((tmp_tx == '\0') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
{ |
Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
#ifdef FOLLOW_ME |
TransmitAlsoToFC = 0; |
#endif |
break; // end while loop |
} |
} |
} |
} |
|
//$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
//$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
//$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C |
//http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm |
|
void CreateNmeaGGA(void) |
{ |
u8 array[200], i = 0, crc = 0, x; |
s32 tmp1, tmp2; |
|
i += sprintf(array, "$GPGGA,"); |
// +++++++++++++++++++++++++++++++++++++++++++ |
if(SystemTime.Valid) |
{ |
i += sprintf(&array[i], "%02d%02d%02d.%02d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec/10); |
} |
else |
{ |
i += sprintf(&array[i], ","); |
} |
// +++++++++++++++++++++++++++++++++++++++++++ |
if(GPSData.Flags & FLAG_GPSFIXOK) |
{ |
tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
i += sprintf(&array[i],"%02d",(s16)tmp1); |
|
tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
tmp1 *= 6; // in Minuten |
tmp2 = tmp1 / 1000000L; |
i += sprintf(&array[i],"%02d", (u16)tmp2); |
tmp2 = tmp1 % 1000000L; |
tmp2 /= 100; // zwei Stellen zu viel |
i += sprintf(&array[i],".%04d,", (u16)tmp2); |
|
if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
else i += sprintf(&array[i],"S,"); |
// +++++++++++++++++++++++++++++++++++++++++++ |
|
tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
i += sprintf(&array[i],"%03d", (u16)tmp1); |
|
tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
tmp1 *= 6; // in Minuten |
tmp2 = tmp1 / 1000000L; |
i += sprintf(&array[i],"%02d", (u16)tmp2); |
tmp2 = tmp1 % 1000000L; |
tmp2 /= 100; // zwei Stellen zu viel |
i += sprintf(&array[i],".%04d,", (u16)tmp2); |
|
|
if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
else i += sprintf(&array[i],"W,"); |
i += sprintf(&array[i],"%d,",GPSData.SatFix); |
i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
i += sprintf(&array[i],"%d.%d,",(s16)(GPSData.Position_Accuracy/100),abs(GPSData.Position_Accuracy%100)); |
// i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
tmp1 = BaroAltimeter_dm; // in dm |
i += sprintf(&array[i],"%d.%d,M,",(s16)tmp1 / 10,abs((s16)tmp1 % 10)); |
i += sprintf(&array[i],",,,*"); |
} |
else |
{ |
i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats); |
} |
for(x = 1; x < i-1; x++) |
{ |
crc ^= array[x]; |
} |
i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
AddSerialData(&UART1_tx_buffer,array,i); |
|
// +++++++++++++++++++++++++++++++++++++++++++ |
} |
|
//$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
//$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP |
|
void CreateNmeaRMC(void) |
{ |
u8 array[200], i = 0, crc = 0, x; |
s16 tmp_int; |
s32 tmp1, tmp2; |
// +++++++++++++++++++++++++++++++++++++++++++ |
i += sprintf(array, "$GPRMC,"); |
// +++++++++++++++++++++++++++++++++++++++++++ |
if(SystemTime.Valid) |
{ |
i += sprintf(&array[i], "%02d%02d%02d.%03d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
} |
else |
{ |
i += sprintf(&array[i], ","); |
} |
if(GPSData.Flags & FLAG_GPSFIXOK) |
{ |
// +++++++++++++++++++++++++++++++++++++++++++ |
tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
i += sprintf(&array[i],"A,%02d", (s16)tmp1); // Status: A = Okay V = Warnung |
|
tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
tmp1 *= 6; // in Minuten |
tmp2 = tmp1 / 1000000L; |
i += sprintf(&array[i],"%02d", (s16)tmp2); |
tmp2 = tmp1 % 1000000L; |
tmp2 /= 100; // zwei Stellen zu viel |
i += sprintf(&array[i],".%04d,", (s16)tmp2); |
if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
else i += sprintf(&array[i],"S,"); |
// +++++++++++++++++++++++++++++++++++++++++++ |
tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
i += sprintf(&array[i],"%03d", (s16)tmp1); |
|
tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
tmp1 *= 6; // in Minuten |
tmp2 = tmp1 / 1000000L; |
i += sprintf(&array[i],"%02d", (s16)tmp2); |
tmp2 = tmp1 % 1000000L; |
tmp2 /= 100; // zwei Stellen zu viel |
i += sprintf(&array[i],".%04d,", (s16)tmp2); |
if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
else i += sprintf(&array[i],"W,"); |
// +++++++++++++++++++++++++++++++++++++++++++ |
tmp_int = GPSData.Speed_Ground; // in cm/sek |
tmp_int *= 90; |
tmp_int /= 463; |
i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten |
// +++++++++++++++++++++++++++++++++++++++++++ |
i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10); |
// +++++++++++++++++++++++++++++++++++++++++++ |
if(SystemTime.Valid) |
{ |
i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year); |
} |
else |
{ |
i += sprintf(&array[i], ","); |
} |
// +++++++++++++++++++++++++++++++++++++++++++ |
i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,"); |
// +++++++++++++++++++++++++++++++++++++++++++ |
if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D*"); |
else i += sprintf(&array[i], "A*"); |
} |
else // kein Satfix |
{ |
i += sprintf(&array[i], "V,,,,,,,,,,N*"); |
} |
// +++++++++++++++++++++++++++++++++++++++++++ |
// CRC |
// +++++++++++++++++++++++++++++++++++++++++++ |
for(x=1; x<i-1; x++) |
{ |
crc ^= array[x]; |
} |
i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
// +++++++++++++++++++++++++++++++++++++++++++ |
AddSerialData(&UART1_tx_buffer,array,i); |
// +++++++++++++++++++++++++++++++++++++++++++ |
/* |
|
|
|
GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
GPSData.NumOfSats = UbxSol.numSV; |
GPSData.SatFix = UbxSol.GPSfix; |
GPSData.Position_Accuracy = UbxSol.PAcc; |
GPSData.Speed_Accuracy = UbxSol.SAcc; |
SetGPSTime(&SystemTime); // update system time |
// NAV POSLLH |
GPSData.Position.Status = INVALID; |
GPSData.Position.Longitude = UbxPosLlh.LON; |
GPSData.Position.Latitude = UbxPosLlh.LAT; |
GPSData.Position.Altitude = UbxPosLlh.HMSL; |
GPSData.Position.Status = NEWDATA; |
// NAV VELNED |
GPSData.Speed_East = UbxVelNed.VEL_E; |
GPSData.Speed_North = UbxVelNed.VEL_N; |
GPSData.Speed_Top = -UbxVelNed.VEL_D; |
GPSData.Speed_Ground = UbxVelNed.GSpeed; |
GPSData.Heading = UbxVelNed.Heading; |
SystemTime.Year = 0; |
SystemTime.Month = 0; |
SystemTime.Day = 0; |
SystemTime.Hour = 0; |
SystemTime.Min = 0; |
SystemTime.Sec = 0; |
SystemTime.mSec = 0; |
SystemTime.Valid = 0; |
|
FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2; |
if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
i1 = abs(GPSData.Position.Latitude)/10000000L; |
i2 = abs(GPSData.Position.Latitude)%10000000L; |
|
|
|
if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
i1 *= 100; |
i1 += i2 / 100000; |
i2 = i2 % 100000; |
i2 /= 10; |
ToFlightCtrl.Param.Byte[6] = i1 % 256; |
ToFlightCtrl.Param.Byte[7] = i1 / 256; |
ToFlightCtrl.Param.Byte[8] = i2 % 256; |
ToFlightCtrl.Param.Byte[9] = i2 / 256; |
break; |
case 1: |
ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
//----------------------------- |
if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
i1 = abs(GPSData.Position.Longitude)/10000000L; |
i2 = abs(GPSData.Position.Longitude)%10000000L; |
|
*/ |
} |
|
u16 SendTriggerPos(void) |
{ |
u16 sent = 0; |
NaviData_Out1Trigger.Index = 18; |
sent = MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Out1Trigger, sizeof(NaviData_Out1Trigger)) + 1; |
if(sent) Out1TriggerUpdateNewData = 0; |
// BeepTime = 50; // beep |
return(sent); |
} |
|
|
u16 TransmitNavigationData(u16 MaxBytesPerSecond, u8 clear) // returns the minumum pause time in ms |
{ |
static u8 state = 0, count_flags = 2, count_target = 3, count_home = 4, count_wp = 5 , count_tiny = 6, count_fs = 7, count_txt = 5; |
static u16 CRC_Home = 0, CRC_Target = 0, CRC_Flags = 0, CRC_Wp = 0, CRC_Fs = 0, CRC_Txt = 0, crc_Tiny = 0; |
u16 pause, sent = 0, crc_home, crc_target, crc_flags, crc_wp, crc_fs, crc_txt; |
s32 altimeter_5cm_or_m; |
|
if(clear) |
{ |
state = 0; |
CRC_Home++; |
CRC_Target++; |
CRC_Flags++; |
CRC_Wp++; |
CRC_Fs++; |
if(ErrorCode) NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; |
else NaviData_Flags.SpeakHoTT = SPEAK_CONNECTED; |
NaviData_Flags_SpeakHoTT_Processed = 0; // don't overwrite in SPI.C |
return(1); |
} |
|
if(FromKopterToolFlags[0] & FLAG_ALTIMETER_M) altimeter_5cm_or_m = BaroAltimeter_dm / 10; else altimeter_5cm_or_m = NaviData.Altimeter_5cm; |
|
while(!sent) |
{ |
// if(Out1TriggerUpdateNewData && MaxBytesPerSecond > 200) // (only if the data link can transmit more than 200Bytes per secons) -> it wouldn't fit into the data-flow if there are too few bytes available |
// sent += SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
|
switch(state++) |
{ |
case 0: if(LaserCtrlTimeout > 0) // send only, if LaserCtrl is connected |
{ |
NaviData_Laser.Index = 20; |
NaviData_Laser.ActualLongitude = NaviData.CurrentPosition.Longitude; |
NaviData_Laser.ActualLatitude = NaviData.CurrentPosition.Latitude; |
NaviData_Laser.Altimeter_5cm_or_m = altimeter_5cm_or_m; |
NaviData_Laser.GroundSpeed = NaviData.GroundSpeed / 10; |
NaviData_Laser.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
NaviData_Laser.Distance = FromLaserCtrl.Distance; |
sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Laser, sizeof(NaviData_Laser)) + 1; |
break; |
} |
case 6: |
case 5: |
// belegt 35 ASCII-Zeichen |
NaviData_Flags.Index = 11; |
NaviData_Flags.ActualLongitude = NaviData.CurrentPosition.Longitude; |
NaviData_Flags.ActualLatitude = NaviData.CurrentPosition.Latitude; |
NaviData_Flags.Altimeter_5cm_or_m = altimeter_5cm_or_m; |
NaviData_Flags.GroundSpeed = NaviData.GroundSpeed / 10; |
NaviData_Flags.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
NaviData_Flags.OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2); |
NaviData_Flags.NCFlags = NaviData.NCFlags; |
NaviData_Flags.Errorcode = ErrorCode; |
NaviData_Flags.ReserveFlags = 0; |
//NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; -> in SPI.c |
NaviData_Flags.VarioCharacter = FromFC_VarioCharacter; |
NaviData_Flags.GPS_ModeCharacter = NC_GPS_ModeCharacter; |
NaviData_Flags.BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
crc_flags = CRC16((unsigned char*)(&NaviData_Flags.OSDStatusFlags2), sizeof(NaviData_Flags) - START_PAYLOAD_DATA); |
if((crc_flags != CRC_Flags) || (--count_flags == 0)) |
{ |
sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Flags, sizeof(NaviData_Flags)) + 1; |
CRC_Flags = crc_flags; |
count_flags = 11*2; |
} |
NaviData_Flags_SpeakHoTT_Processed = 1; // allow update in SPI now |
break; |
case 1: |
case 7: |
// belegt 43 ASCII-Zeichen |
NaviData_Target.Index = 12; |
NaviData_Target.ActualLongitude = NaviData.CurrentPosition.Longitude; |
NaviData_Target.ActualLatitude = NaviData.CurrentPosition.Latitude; |
NaviData_Target.Altimeter_5cm_or_m = altimeter_5cm_or_m; |
NaviData_Target.GroundSpeed = NaviData.GroundSpeed / 10; |
NaviData_Target.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
NaviData_Target.TargetLongitude = NaviData.TargetPosition.Longitude; |
NaviData_Target.TargetLatitude = NaviData.TargetPosition.Latitude; |
NaviData_Target.TargetAltitude = NaviData.TargetPosition.Altitude; |
NaviData_Target.RC_Quality = NaviData.RC_Quality; |
crc_target = CRC16((unsigned char*)(&NaviData_Target.TargetLongitude), sizeof(NaviData_Target) - START_PAYLOAD_DATA); |
if((crc_target != CRC_Target) || (--count_target == 0)) |
{ |
sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Target, sizeof(NaviData_Target)) + 1; |
CRC_Target = crc_target; |
count_target = 10*2; |
} |
break; |
case 2: |
case 8: |
// belegt 31 ASCII-Zeichen |
NaviData_WP.Index = 15; |
NaviData_WP.ActualLongitude = NaviData.CurrentPosition.Longitude; |
NaviData_WP.ActualLatitude = NaviData.CurrentPosition.Latitude; |
NaviData_WP.Altimeter_5cm_or_m = altimeter_5cm_or_m; |
NaviData_WP.GroundSpeed = NaviData.GroundSpeed / 10; |
NaviData_WP.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
NaviData_WP.WaypointIndex = NaviData.WaypointIndex; |
NaviData_WP.WaypointNumber = NaviData.WaypointNumber; |
NaviData_WP.TargetHoldTime = NaviData.TargetHoldTime; |
// NaviData_WP.WP_Eventchannel = FC_WP_EventChannel; -> happends already in SPI.c |
crc_wp = CRC16((unsigned char*)(&NaviData_WP.WaypointIndex), sizeof(NaviData_WP) - START_PAYLOAD_DATA); // update crc |
if((crc_wp != CRC_Wp) || (--count_wp == 0)) |
{ |
sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_WP, sizeof(NaviData_WP)) + 1; |
CRC_Wp = crc_wp; |
count_wp = 12*2; |
} |
break; |
case 3: |
case 9: |
// 35 ASCII-Zeichen |
NaviData_Failsafe.Index = 17; |
NaviData_Failsafe.ActualLongitude = NaviData.CurrentPosition.Longitude; |
NaviData_Failsafe.ActualLatitude = NaviData.CurrentPosition.Latitude; |
NaviData_Failsafe.Altimeter_5cm_or_m = altimeter_5cm_or_m; |
NaviData_Failsafe.GroundSpeed = NaviData.GroundSpeed / 10; |
NaviData_Failsafe.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
NaviData_Failsafe.Longitude = GPS_FailsafePosition.Longitude; |
NaviData_Failsafe.Latitude = GPS_FailsafePosition.Latitude; |
crc_fs = CRC16((unsigned char*)(&NaviData_Failsafe.Longitude), sizeof(NaviData_FS_Pos_t) - START_PAYLOAD_DATA); // update crc for the structure |
if((crc_fs != CRC_Fs) || (--count_fs == 0)) |
{ |
sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Failsafe, sizeof(NaviData_Failsafe)) + 1; |
CRC_Fs = crc_fs; |
count_fs = 20*2; |
} |
break; |
case 4: |
case 10: |
// belegt 43 ASCII-Zeichen |
NaviData_Home.Index = 13; |
NaviData_Home.ActualLongitude = NaviData.CurrentPosition.Longitude; |
NaviData_Home.ActualLatitude = NaviData.CurrentPosition.Latitude; |
NaviData_Home.Altimeter_5cm_or_m = altimeter_5cm_or_m; |
NaviData_Home.GroundSpeed = NaviData.GroundSpeed / 10; |
NaviData_Home.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
NaviData_Home.HomeLongitude = NaviData.HomePosition.Longitude; |
NaviData_Home.HomeLatitude = NaviData.HomePosition.Latitude; |
NaviData_Home.HomeAltitude = NaviData.HomePosition.Altitude; |
NaviData_Home.WP_OperatingRadius = MaxWP_Radius_in_m; |
// ++++++++++++++ |
// + Fix Type |
// ++++++++++++++ |
if(!(GPSData.Flags & FLAG_GPSFIXOK)) NaviData_Home.OSDStatusFlags3 = (NaviData_Home.OSDStatusFlags3 & 0xf8) | OSD_FIX_NONE; |
else |
if(GPSData.SatFix == SATFIX_2D) NaviData_Home.OSDStatusFlags3 = (NaviData_Home.OSDStatusFlags3 & 0xf8) | OSD_FIX_2D; |
else |
if(GPSData.Flags & FLAG_DIFFSOLN) NaviData_Home.OSDStatusFlags3 = (NaviData_Home.OSDStatusFlags3 & 0xf8) | OSD_FIX_DGPS; |
else |
if(GPSData.SatFix == SATFIX_3D) NaviData_Home.OSDStatusFlags3 = (NaviData_Home.OSDStatusFlags3 & 0xf8) | OSD_FIX_3D; |
// ++++++++++++++ |
if(BlitzSchuhConnected) NaviData_Home.OSDStatusFlags3 |= OSD3_FLAG_HOTSHOE; else NaviData_Home.OSDStatusFlags3 &= ~OSD3_FLAG_HOTSHOE; |
// ++++++++++++++ |
if(FC.StatusFlags3 & FC_STATUS3_BOAT) NaviData_Home.OSDStatusFlags3 |= OSD3_FLAG_BOAT_MODE; else NaviData_Home.OSDStatusFlags3 &= ~OSD3_FLAG_BOAT_MODE; |
// ++++++++++++++ |
if(!(FC.StatusFlags3 & FC_STATUS3_NOT_CALIBRATED) && !ErrorCode && !Partner.ErrorCode && (NCFlags & NC_FLAG_GPS_OK)) |
NaviData_Home.OSDStatusFlags3 |= OSD3_FLAG_MK_IS_READY; else NaviData_Home.OSDStatusFlags3 &= ~OSD3_FLAG_MK_IS_READY; |
// ++++++++++++++ |
crc_home = CRC16((unsigned char*)(&NaviData_Home.HomeLongitude), sizeof(NaviData_Home_t) - START_PAYLOAD_DATA); // update crc for the structure |
if((crc_home != CRC_Home) || (--count_home == 0)) |
{ |
sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Home, sizeof(NaviData_Home)) + 1; |
CRC_Home = crc_home; |
count_home = 25; |
} |
break; |
case 11: |
// belegt 39 ASCII-Zeichen |
NaviData_Deviation.Index = 14; |
NaviData_Deviation.ActualLongitude = NaviData.CurrentPosition.Longitude; |
NaviData_Deviation.ActualLatitude = NaviData.CurrentPosition.Latitude; |
NaviData_Deviation.Altimeter_5cm_or_m = altimeter_5cm_or_m; |
NaviData_Deviation.GroundSpeed = NaviData.GroundSpeed / 10; |
NaviData_Deviation.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
NaviData_Deviation.FlyingTime = NaviData.FlyingTime; |
NaviData_Deviation.DistanceToHome = NaviData.HomePositionDeviation.Distance_dm; |
NaviData_Deviation.HeadingToHome = NaviData.HomePositionDeviation.Bearing/2; |
NaviData_Deviation.DistanceToTarget = NaviData.TargetPositionDeviation.Distance_dm; |
NaviData_Deviation.HeadingToTarget = NaviData.TargetPositionDeviation.Bearing/2; |
NaviData_Deviation.AngleNick = NaviData.AngleNick; |
NaviData_Deviation.AngleRoll = NaviData.AngleRoll; |
NaviData_Deviation.SatsInUse = NaviData.SatsInUse; |
sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Deviation, sizeof(NaviData_Deviation)) + 1; |
break; |
case 12: |
// belegt 43 ASCII-Zeichen |
NaviData_Volatile.Index = 16; |
NaviData_Volatile.ActualLongitude = NaviData.CurrentPosition.Longitude; |
NaviData_Volatile.ActualLatitude = NaviData.CurrentPosition.Latitude; |
NaviData_Volatile.Altimeter_5cm_or_m = altimeter_5cm_or_m; |
NaviData_Volatile.GroundSpeed = NaviData.GroundSpeed / 10; |
NaviData_Volatile.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
NaviData_Volatile.UBat = FC.BAT_Voltage; |
NaviData_Volatile.Current = NaviData.Current; |
NaviData_Volatile.UsedCapacity = NaviData.UsedCapacity; |
NaviData_Volatile.Variometer = NaviData.Variometer; |
NaviData_Volatile.Heading = NaviData.Heading / 2; |
NaviData_Volatile.CompassHeading = NaviData.CompassHeading / 2; |
NaviData_Volatile.Gas = NaviData.Gas; |
if(FromKopterToolFlags[0] & FLAG_ALTIMETER_M) NaviData_Volatile.SetpointAltitude = FC.SetpointAltimeter_dm; else NaviData_Volatile.SetpointAltitude = NaviData.SetpointAltitude_5cm; |
sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Volatile, sizeof(NaviData_Volatile)) + 1; |
break; |
case 13: |
// belegt 27 ASCII-Zeichen |
NaviData_Tiny.Index = 10; |
NaviData_Tiny.ActualLongitude = NaviData.CurrentPosition.Longitude; |
NaviData_Tiny.ActualLatitude = NaviData.CurrentPosition.Latitude; |
NaviData_Tiny.Altimeter_5cm_or_m = altimeter_5cm_or_m; |
NaviData_Tiny.GroundSpeed = NaviData.GroundSpeed / 10; |
NaviData_Tiny.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
NaviData_Tiny.CamCtrlChar = CamCtrlCharacter; |
if((crc_Tiny != NaviData_Tiny.CamCtrlChar) || (--count_tiny == 0)) |
{ |
sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Tiny, sizeof(NaviData_Tiny)) + 1; |
count_tiny = 200; // just to make sure that it comes sometimes |
crc_Tiny = NaviData_Tiny.CamCtrlChar; |
} |
break; |
case 14: |
// 55 ASCII-Zeichen |
NaviData_HoTT_Text.Index = 19; |
NaviData_HoTT_Text.ActualLongitude = NaviData.CurrentPosition.Longitude; |
NaviData_HoTT_Text.ActualLatitude = NaviData.CurrentPosition.Latitude; |
NaviData_HoTT_Text.Altimeter_5cm_or_m = altimeter_5cm_or_m; |
NaviData_HoTT_Text.GroundSpeed = NaviData.GroundSpeed / 10; |
NaviData_HoTT_Text.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
NaviData_HoTT_Text.MagnetField = (u16) (EarthMagneticField/5); |
crc_txt = CRC16((unsigned char*)(&NaviData_HoTT_Text.HoTT_DisplayText), sizeof(NaviData_HoTT_Text_t) - START_PAYLOAD_DATA); // update crc for the structure |
if((crc_txt != CRC_Txt) || (--count_txt == 0)) |
{ |
sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_HoTT_Text, sizeof(NaviData_HoTT_Text)) + 1; |
CRC_Txt = crc_txt; |
count_txt = 50; |
} |
break; |
|
|
default: state = 0; |
break; |
} |
} |
pause = (sent * 1000) / MaxBytesPerSecond; |
|
UART1_Request_NaviData = FALSE; |
LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
return(pause); |
// Clear at timeout: |
// NaviData_WP.WP_Eventchannel |
} |
|
/**************************************************************/ |
/* Send the answers to incomming commands at the debug uart */ |
/**************************************************************/ |
void UART1_TransmitTxData(void) |
{ |
static u8 motorindex1 = 255, motorindex2 = 0; |
if(DebugUART != UART1) return; |
|
if(CheckDelay(UART1_AboTimeOut) || StopAllAbbos) |
{ |
UART1_DebugData_Interval = 0; |
UART1_NaviData_Interval = 0; |
UART1_NaviData_MaxBytes = 0; |
UART1_Data3D_Interval = 0; |
UART1_Display_Interval = 0; |
UART1_MotorData_Interval = 0; |
UART1_NaviData_Timer = SetDelay(500); |
UART1_AboTimeOut = SetDelay(1000); |
UART1_MobileMenu_Timer = 0; |
TransmitNavigationData(0,1); // clear the CRC values |
StopAllAbbos = 0; |
} |
//if(UART1_NaviData_MaxBytes > 150) UART1_NaviData_MaxBytes = 150; |
//UART1_NaviData_MaxBytes = 150; |
/* |
#define CHK_MIN_INTERVAL(a,b) {if(a && a < b) a = b;} |
UART1_NaviData_Interval = 500; |
CHK_MIN_INTERVAL(UART1_DebugData_Interval,500); |
CHK_MIN_INTERVAL(UART1_NaviData_Interval,1000); |
CHK_MIN_INTERVAL(UART1_Data3D_Interval,255); |
CHK_MIN_INTERVAL(UART1_Display_Interval,1500); |
CHK_MIN_INTERVAL(UART1_MotorData_Interval,750); |
*/ |
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); |
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_MissonParameter && (UART1_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_MissonParameter, sizeof(UART1_Request_MissonParameter), &WP_MissionParameter, sizeof(WP_MissionParameter)); // answer the param request |
UART1_Request_MissonParameter = 0; |
} |
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_FTP && (UART1_tx_buffer.Locked == FALSE)) |
{ |
u8 errorcode = FTP_ERROR_NONE; |
#ifndef DATAPLOTTER |
if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
#endif |
if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
|
if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
else |
{ |
u8 cmd = FTP_CMD_ERROR; |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
} |
|
UART1_Request_FTP = FALSE; |
} |
else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
UART1_Request_WritePoint = 0xFF; |
} |
else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
{ |
u8 PointCount = PointList_GetCount(); |
if (UART1_Request_ReadPoint <= PointCount) |
{ |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
} |
else |
{ |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
} |
UART1_Request_ReadPoint = 0; |
} |
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; |
} |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
//+ Mobile menu |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
else if((UART1_Request_MobileInfo) && (UART1_tx_buffer.Locked == FALSE)) // Infos |
{ |
u8 cmd = MOBILE_INFO; |
MobileDataInfo.Count = MOBILE_MAX_MENU; |
MobileDataInfo.Compatibel = MOBILE_COMPATIBLITY; |
MobileDataInfo.CheckSumLable = CRC16((unsigned char*)(&MobileLabel[0].MenuLabel[0]), sizeof(MobileLabel)); // update crc for the structure |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'N', NC_ADDRESS, 2, &cmd ,1, &MobileDataInfo, sizeof(MobileDataInfo)); |
UART1_Request_MobileInfo = 0; |
} |
else if((UART1_Request_MobileLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) // Lables |
{ |
u8 cmd = MOBILE_LABLE; |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'N', NC_ADDRESS, 3, &cmd ,1, &UART1_Request_MobileLabel, sizeof(UART1_Request_MobileLabel), (u8 *) &MobileLabel[UART1_Request_MobileLabel].MenuLabel[0], sizeof(MobileLabel_t)); |
UART1_Request_MobileLabel = 0xFF; |
} |
else if((((UART1_Request_MobileMenu) && CheckDelay(UART1_MobileMenu_Timer)) || (UART1_Request_MobileMenu == 1)) && (UART1_tx_buffer.Locked == FALSE)) // menu |
{ |
u8 cmd = MOBILE_MENU, event; |
static u16 lastcrc = 0; |
u16 crc; |
event = MobileDataRequest.Event; |
MobileMenuUpdate(MobileDataRequest.MenuItem,event,MobileDataRequest.Value); |
MobileDataRequest.Event = 0; |
//++++ has the data changed ? +++++ |
crc = CRC16((unsigned char*)(&Mobile), sizeof(Mobile_t)); |
if(crc != lastcrc || UART1_Request_MobileMenu == 1) |
{ |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'N', NC_ADDRESS, 2, &cmd ,1, &Mobile, sizeof(Mobile_t)); |
lastcrc = crc; |
} |
//+++++++++++++++++++++++++++++++++ |
if(++UART1_Request_MobileMenu >= 16) UART1_Request_MobileMenu = 0; |
else UART1_MobileMenu_Timer = SetDelay(500); |
} |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
UART1_ExternalControlConfirmFrame = 0; |
} |
else |
if((UART1_NaviData_Interval > 0) && Out1TriggerUpdateNewData && UART1_NaviData_MaxBytes > 200) // (only if the data link can transmit more than 200Bytes per secons) -> it wouldn't fit into the data-flow if there are too few bytes available |
{ |
//sent += |
SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
} |
else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
{ |
u16 time = 0; |
//UART1_NaviData_MaxBytes = 250; |
if(UART1_NaviData_MaxBytes == 0) // Transmit the big NC Data frame |
{ |
NaviData.Errorcode = ErrorCode; |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
} |
else |
if(CheckDelay(UART1_NaviData_Timer)) |
{ |
// Wert = 50 -> Sekunden laufen in 2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 3-4s) |
// Wert = 100 -> Sekunden laufen in 1-2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 2s) |
// Wert = 150 -> Sekunden laufen flüssig (im Wegpunkteflug mit aktivem Countdown und gleichzeitig Target verschieben manchmal in 2s) |
// Wert = 200 -> Sekunden laufen flüssig |
// Wert >= 250 -> optimal |
//UART1_NaviData_MaxBytes = 45; |
time = TransmitNavigationData(UART1_NaviData_MaxBytes,0); |
if(UART1_NaviData_Interval > time) time = UART1_NaviData_Interval; |
UART1_NaviData_Timer = SetDelay(time); |
} |
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)) |
{ |
Data3D.StickNick = FC.StickNick; |
Data3D.StickRoll = FC.StickRoll; |
Data3D.StickYaw = FC.StickYaw; |
Data3D.StickGas = FC.StickGas; |
Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
Data3D.Altimeter_5cm = BaroAltimeter_dm * 2; // in 5cm -> 20 = 1m |
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_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
{ |
do |
{ |
motorindex1++; |
motorindex1%=12; |
if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
if(motorindex1 == motorindex2) break; |
} |
while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
|
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
UART1_Request_MotorData = FALSE; |
} |
else if(UART1_Request_WPLStore) |
{ |
/* |
s8 txt[50]; |
sprintf(txt, "\r\nWPL Overwride = %d, Type = %d, Index = %d, Status = %d\r\n", WPL_Store.OverwriteFile, WPL_Store.Type, WPL_Answer.Index, WPL_Answer.Status); |
UART1_PutString(txt); |
*/ |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'I', NC_ADDRESS, 1,(u8 *)&(WPL_Answer), sizeof(WPL_Answer_t)); |
UART1_Request_WPLStore = FALSE; |
} |
else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE)) |
{ |
CreateNmeaGGA(); |
Send_NMEA_RMC = TRUE; // das muss noch da hinter |
NMEA_Timer = SetDelay(NMEA_Interval); |
} |
else if(Send_NMEA_RMC == TRUE && (UART1_tx_buffer.Locked == FALSE)) |
{ |
CreateNmeaRMC(); |
Send_NMEA_RMC = 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 == 1 && (UART1_tx_buffer.Locked == FALSE)) // get FC-Versions |
{ |
UART_VersionInfo_t version_tmp; |
version_tmp.SWMajor = FC_Version.Major; |
version_tmp.SWMinor = FC_Version.Minor; |
version_tmp.SWPatch = FC_Version.Patch; |
version_tmp.HWMajor = FC_Version.Hardware; |
version_tmp.HardwareError[0] = 0xff; // tells the KopterTool that it is the FC-version |
version_tmp.HardwareError[1] = 0xff; // tells the KopterTool that it is the FC-version |
version_tmp.ProtoMajor = UART_VersionInfo.ProtoMajor; |
version_tmp.BL_Firmware = UART_VersionInfo.BL_Firmware; |
version_tmp.Flags = 0; |
version_tmp.LabelTextCRC = 0;//UART_VersionInfo.DebugTextCRC; |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&version_tmp, sizeof(version_tmp)); |
UART1_Request_VersionInfo = FALSE; |
} |
else if(UART1_Request_VersionInfo == 2 && (UART1_tx_buffer.Locked == FALSE)) // get NC-Versions |
{ |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
UART1_Request_VersionInfo = FALSE; |
} |
else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
UART1_Request_SystemTime = 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_PPM_Channels && (UART1_tx_buffer.Locked == FALSE)) |
{ |
s16 ppm_tmp[MAX_RC_IN], i; |
for(i=0; i<MAX_RC_IN;i++) ppm_tmp[i] = PPM_In[i]; // because the serial Data expects s16 |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'P', NC_ADDRESS, 1, (u8 *)&ppm_tmp, sizeof(ppm_tmp)); |
UART1_Request_PPM_Channels = FALSE; |
} |
else if(UART1_Request_LicenseString && (UART1_tx_buffer.Locked == FALSE)) |
{ |
u8 result = 1, cmd = 0; |
if(UART1_Request_LicenseString == LIC_CMD_READ_LICENSE) |
{ |
result = LIC_CMD_READ_LICENSE; |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &result, 1, LicensePtr, LICENSE_SIZE); |
} |
else |
if((UART1_Request_LicenseString == LIC_CMD_ERASE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
{ |
result = LIC_CMD_ERASE_LICENSE; |
DeleteLicenseInEEPROM(); |
CheckLicense(GET_LICENSE); |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 1, &result, 1); |
} |
else |
if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
{ |
cmd = LIC_CMD_WRITE_LICENSE; |
if(CheckLicense(CHECK_ONLY)) //new license is okay |
{ |
WriteLicenseToEEPROM(EEPROM_LICENSE_DATA_KOMPATIBEL); |
result = 1; |
} |
else //new license is NOT okay |
{ |
ClearLicenseText(); |
result = 0; |
CheckLicense(GET_LICENSE); // fetch a license if available |
} |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &cmd, 1,&result, 1 ); |
} |
UART1_Request_LicenseString = 0; |
} |
#ifdef FOLLOW_ME |
else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
{ |
if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
{ |
TransmitAlsoToFC = 1; |
// update FollowMe content |
FollowMe.Position.Longitude = GPSData.Position.Longitude; |
FollowMe.Position.Latitude = GPSData.Position.Latitude; |
FollowMe.Position.Status = NEWDATA; |
FollowMe.Position.Altitude = 1; |
// 0 -> no Orientation |
// 1-360 -> CompassCourse Setpoint |
// -1 -> points to WP1 -> itself |
FollowMe.Heading = -1; |
FollowMe.ToleranceRadius = 1; |
FollowMe.HoldTime = 60; |
FollowMe.Event_Flag = 1; |
FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
FollowMe.Type = POINT_TYPE_WP; |
#ifdef HOME_TRANSMITTER |
FollowMe.Type = POINT_TYPE_HOME; |
#endif |
FollowMe.WP_EventChannelValue = 100; // set servo value |
FollowMe.AltitudeRate = 0; // do not change height |
FollowMe.Speed = 0; // rate to change the Position (0 = max) |
FollowMe.CamAngle = 121; // Camera servo angle in degree (255 -> POI-Automatic) |
FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
FollowMe.reserve[0] = 0; // reserve |
FollowMe.reserve[1] = 0; // reserve |
/* |
{ |
static u32 distance; |
distance = (10 + distance + AnalogData.Ch5 * 5) / 2; |
|
GPSPos_ShiftGeodetic(&(FollowMe.Position), (s16)GyroCompassCorrected/10, distance); |
FollowMe.Heading = (s16)GyroCompassCorrected/10; |
FollowMe.CamAngle = 0; // Camera servo angle in degree (255 -> POI-Automatic) |
FollowMe.Speed = 50 + GPSData.Speed_Ground / 10; |
} |
*/ |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
} |
#ifdef HOME_TRANSMITTER |
UART1_FollowMe_Timer = SetDelay(HOME_INTERVAL); // set new update time |
#else |
UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
#endif |
|
} |
#endif |
#ifdef DEBUG // only include functions if DEBUG is defined |
else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
SendDebugOutput = 0; |
} |
#endif |
UART1_Transmit(); // output pending bytes in tx buffer |
} |
|