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