| 73,6 → 73,7 |
|---|
| #include "main.h" |
| #include "waypoints.h" |
| #include "mkprotocol.h" |
| #include "fifo.h" |
| |
| #define FALSE 0 |
| #define TRUE 1 |
| 96,10 → 97,10 |
|---|
| |
| UART_TypeDef *DebugUART = UART1; |
| |
| // the tx buffer |
| #define UART1_TX_BUFFER_LEN 150 |
| u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
| Buffer_t UART1_tx_buffer; |
| // the primary rx fifo |
| #define UART1_RX_FIFO_LEN 512 |
| u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
| fifo_t UART1_rx_fifo; |
| |
| // the rx buffer |
| #define UART1_RX_BUFFER_LEN 150 |
| 106,6 → 107,13 |
|---|
| 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]; |
| 170,6 → 178,15 |
|---|
| 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 |
| |
| 211,23 → 228,18 |
|---|
| UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
| |
| UART_DeInit(UART1); // reset uart 1 to default |
| UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
| 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 |
| // 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; |
| |
| // 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); |
| |
| // Fill Version Info Structure |
| UART_VersionInfo.SWMajor = VERSION_MAJOR; |
| 252,7 → 264,7 |
|---|
| |
| if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
| { |
| // clear the pending bits |
| // clear the pending bits! |
| UART_ClearITPendingBit(UART1, UART_IT_Receive); |
| UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
| // if debug UART is not UART1 |
| 288,6 → 300,7 |
|---|
| { |
| UART0_Connect_to_MKGPS(); |
| TIMER2_Init(); // enbable servo outputs |
| fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
| } |
| DebugUART = UART1; |
| } |
| 308,9 → 321,13 |
|---|
| { |
| while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
| { // some byes in the fifo and rxd buffer not locked |
| // get byte from fifo |
| // get byte from hardware fifo |
| c = UART_ReceiveData(UART1); |
| MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c); |
| // put into the software fifo |
| if(!fifo_put(&UART1_rx_fifo, c)) |
| { // fifo overflow |
| fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
| } |
| } // some byes in the fifo and rxd buffer not locked |
| } // eof DebugUart = UART1 |
| } |
| 321,17 → 338,28 |
|---|
| /**************************************************************/ |
| void UART1_ProcessRxData(void) |
| { |
| SerialMsg_t SerialMsg; |
| u8 c; |
| |
| // return on forwarding uart |
| if(DebugUART != UART1) return; |
| |
| // 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 data in the rxd buffer are not locked immediately return |
| if((UART1_rx_buffer.Locked == FALSE) || (DebugUART != UART1) ) return; |
| if(UART1_rx_buffer.Locked == FALSE) return; |
| |
| Waypoint_t * pWaypoint = NULL; |
| SerialMsg_t SerialMsg; |
| |
| MKProtocol_DecodeSerialFrame(&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 |
| if(*(SerialMsg.pCmdID) != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
| switch(*(SerialMsg.pAddress)) // check for Slave Address |
| { |
| case NC_ADDRESS: // own Slave Address |
| switch(SerialMsg.CmdID) |
| switch(*(SerialMsg.pCmdID)) |
| { |
| case 'z': // connection checker |
| memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
| 358,14 → 386,14 |
|---|
| { |
| case UART_FLIGHTCTRL: |
| UART2_Init(); // initialize UART2 to FC pins |
| //TIMER2_Deinit(); // stop servo output |
| fifo_purge(&UART1_rx_fifo); |
| DebugUART = UART2; |
| break; |
| case UART_MK3MAG: |
| if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
| UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
| //TIMER2_Deinit(); // stop servo output |
| GPSData.Status = INVALID; |
| fifo_purge(&UART1_rx_fifo); |
| DebugUART = UART0; |
| break; |
| case UART_MKGPS: |
| 373,8 → 401,11 |
|---|
| TIMER2_Deinit(); |
| UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
| GPSData.Status = INVALID; |
| fifo_purge(&UART1_rx_fifo); |
| DebugUART = UART0; |
| break; |
| default: |
| break; |
| } |
| break; |
| |
| 407,7 → 438,7 |
|---|
| |
| default: // and any other Slave Address |
| |
| switch(SerialMsg.CmdID) // check CmdID |
| switch(*(SerialMsg.pCmdID)) // check CmdID |
| { |
| case 'a':// request for the labels of the analog debug outputs |
| UART1_Request_DebugLabel = SerialMsg.pData[0]; |
| 458,7 → 489,7 |
|---|
| } |
| break; // default: |
| } |
| Buffer_Clear(&UART1_rx_buffer); |
| Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
| } |
| |
| |
| 529,16 → 560,6 |
|---|
| Echo = 0; // reset echo value |
| UART1_Request_Echo = FALSE; |
| } |
| 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_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_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
| { |
| NaviData.Errorcode = ErrorCode; |
| 558,7 → 579,16 |
|---|
| UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
| UART1_Request_Data3D = FALSE; |
| } |
| |
| 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_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)); |