| 0,0 → 1,754 |
|---|
| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + FOR NON COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdio.h> |
| #include <stdarg.h> |
| #include <string.h> |
| |
| #include "91x_lib.h" |
| #include "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" |
| |
| #define FALSE 0 |
| #define TRUE 1 |
| |
| #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
| u32 UART1_AboTimeOut = 0; |
| |
| u8 UART1_Request_VersionInfo = FALSE; |
| u8 UART1_Request_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_Echo = FALSE; |
| u8 UART1_Request_ParameterId = 0; |
| u8 UART1_Request_Parameter = FALSE; |
| u8 UART1_DisplayKeys = 0; |
| u8 UART1_DisplayLine = 0; |
| u8 UART1_ConfirmFrame = 0; |
| |
| UART_TypeDef *DebugUART = UART1; |
| |
| // the primary rx fifo |
| #define UART1_RX_FIFO_LEN 512 |
| u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
| fifo_t UART1_rx_fifo; |
| |
| // the rx buffer |
| #define UART1_RX_BUFFER_LEN 150 |
| u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
| Buffer_t UART1_rx_buffer; |
| |
| // the tx buffer |
| #define UART1_TX_BUFFER_LEN 150 |
| u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
| Buffer_t UART1_tx_buffer; |
| |
| |
| |
| volatile u8 SerialLinkOkay = 0; |
| |
| u8 text[200]; |
| |
| const u8 ANALOG_LABEL[32][16] = |
| { |
| //1234567890123456 |
| "AngleNick ", //0 |
| "AngleRoll ", |
| "AccNick ", |
| "AccRoll ", |
| "OperatingRadius ", |
| "FC-Flags ", //5 |
| "NC-Flags ", |
| "NickServo ", |
| "RollServo ", |
| "GPS Data ", |
| "CompassHeading ", //10 |
| "GyroHeading ", |
| "SPI Error ", |
| "SPI Okay ", |
| "I2C Error ", |
| "I2C Okay ", //15 |
| "*POI_INDEX ",// "Kalman_K ", |
| "ACC_Speed_N ", |
| "ACC_Speed_E ", |
| "Speed_z ",// "GPS ACC ", |
| "20 ",//20 |
| "N_Speed ", |
| "E_Speed ", |
| "23 ", |
| "Magnet X ", |
| "Magnet Y ",//25 |
| "Magnet Z ", |
| "Distance N ", |
| "Distance E ", |
| "GPS_Nick ", |
| "GPS_Roll ", //30 |
| "Used_Sats " |
| }; |
| |
| DebugOut_t DebugOut; |
| ExternControl_t ExternControl; |
| UART_VersionInfo_t UART_VersionInfo; |
| NaviData_t NaviData; |
| Data3D_t Data3D; |
| u16 Echo; // 2 bytes recieved will be sent back as echo |
| |
| u32 UART1_DebugData_Timer = 0; |
| u32 UART1_DebugData_Interval = 0; // in ms |
| u32 UART1_NaviData_Timer = 0; |
| u32 UART1_NaviData_Interval = 0; // in ms |
| u32 UART1_Data3D_Timer = 0; |
| u32 UART1_Data3D_Interval = 0; // in ms |
| u32 UART1_Display_Timer = 0; |
| u32 UART1_Display_Interval = 0; // in ms |
| |
| /********************************************************/ |
| /* Initialization the UART1 */ |
| /********************************************************/ |
| void UART1_Init (void) |
| { |
| GPIO_InitTypeDef GPIO_InitStructure; |
| UART_InitTypeDef UART_InitStructure; |
| |
| // initialize txd buffer |
| Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
| |
| // initialize rxd buffer |
| Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
| |
| // initialize the rx fifo, 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); |
| |
| /* UART1 configured as follow: |
| - Word Length = 8 Bits |
| - One Stop Bit |
| - No parity |
| - BaudRate = 57600 baud |
| - Hardware flow control Disabled |
| - Receive and transmit enabled |
| - Receive and transmit FIFOs are Disabled |
| */ |
| UART_StructInit(&UART_InitStructure); |
| UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
| UART_InitStructure.UART_StopBits = UART_StopBits_1; |
| UART_InitStructure.UART_Parity = UART_Parity_No ; |
| UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
| UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
| UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
| UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
| UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
| UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
| |
| UART_DeInit(UART1); // reset uart 1 to default |
| UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
| // enable uart 1 interrupts selective |
| UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
| UART_Cmd(UART1, ENABLE); // enable uart 1 |
| // configure the uart 1 interupt line |
| VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
| // enable the uart 1 IRQ |
| VIC_ITCmd(UART1_ITLine, ENABLE); |
| |
| // initialize the debug timer |
| UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
| UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
| |
| // Fill Version Info Structure |
| UART_VersionInfo.SWMajor = VERSION_MAJOR; |
| UART_VersionInfo.SWMinor = VERSION_MINOR; |
| UART_VersionInfo.SWPatch = VERSION_PATCH; |
| UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| |
| NaviData.Version = NAVIDATA_VERSION; |
| |
| UART1_PutString("\r\n UART1 init...ok"); |
| } |
| |
| |
| /****************************************************************/ |
| /* USART1 receiver ISR */ |
| /****************************************************************/ |
| void UART1_IRQHandler(void) |
| { |
| static u8 abortState = 0; |
| u8 c; |
| |
| IENABLE; |
| |
| if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
| { |
| // clear the pending bits! |
| UART_ClearITPendingBit(UART1, UART_IT_Receive); |
| UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
| // if debug UART is not UART1 |
| if (DebugUART != UART1) |
| { // forward received data to the debug UART tx buffer |
| while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
| { |
| // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
| c = UART_ReceiveData(UART1); |
| |
| // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
| switch (abortState) |
| { |
| case 0: |
| if (c == 27) abortState++; |
| break; |
| case 1: |
| if (c == 27) abortState++; |
| else abortState = 0; |
| break; |
| case 2: |
| if (c == 0x55) abortState++; |
| else abortState = 0; |
| break; |
| case 3: |
| if (c == 0xAA) abortState++; |
| else abortState = 0; |
| break; |
| case 4: |
| if (c == 0x00) |
| { |
| if(DebugUART == UART0) |
| { |
| UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
| TIMER2_Init(); // enbable servo outputs |
| fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
| } |
| DebugUART = UART1; |
| } |
| abortState = 0; |
| break; |
| } // end switch abort state |
| // if the Debug uart is not UART1, redirect input to the Debug UART |
| if (DebugUART != UART1) |
| { |
| // wait for space in the tx buffer of the DebugUART |
| while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
| // move byte to the tx fifo of the debug uart |
| UART_SendData(DebugUART, c); |
| } |
| } |
| } |
| else // DebugUART == UART1 (normal operation) |
| { |
| while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
| { // some byes in the hardware fifo |
| // get byte from hardware fifo |
| c = UART_ReceiveData(UART1); |
| // put into the software fifo |
| if(!fifo_put(&UART1_rx_fifo, c)) |
| { // fifo overflow |
| //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
| } |
| } // EOF while some byes in the hardware fifo |
| } // eof DebugUart = UART1 |
| } |
| |
| IDISABLE; |
| } |
| |
| /**************************************************************/ |
| /* Process incomming data from debug uart */ |
| /**************************************************************/ |
| void UART1_ProcessRxData(void) |
| { |
| // return on forwarding uart or unlocked rx buffer |
| if(DebugUART != UART1) return; |
| |
| u8 c; |
| // if rx buffer is not locked |
| if(UART1_rx_buffer.Locked == FALSE) |
| { |
| //collect data from primary rx fifo |
| while(fifo_get(&UART1_rx_fifo, &c)) |
| { |
| // break if complete frame is collected |
| if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
| } |
| } |
| if(UART1_rx_buffer.Locked == FALSE) return; |
| |
| 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 'v': // version |
| case 'y': // serial poti values |
| case 'b': // extern control |
| Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
| Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
| return; //end process rx data |
| break; |
| } |
| } |
| |
| MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
| if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
| switch(SerialMsg.Address) // check for Slave Address |
| { |
| case NC_ADDRESS: // own Slave Address |
| switch(SerialMsg.CmdID) |
| { |
| case 'z': // connection checker |
| memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
| UART1_Request_Echo = TRUE; |
| break; |
| |
| case 'e': // request for the text of the error status |
| UART1_Request_ErrorMessage = TRUE; |
| break; |
| |
| case 's':// new target position |
| pPoint = (Point_t*)SerialMsg.pData; |
| if(pPoint->Position.Status == NEWDATA) |
| { |
| //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
| //pPoint->Index = 1; // must be one after empty list |
| PointList_SetAt(pPoint); |
| if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
| GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
| if(GPS_pWaypoint != NULL) // if new WP exist |
| { // update WP hold time stamp immediately! |
| /* if(GPS_pWaypoint->Heading > 0 && GPS_pWaypoint->Heading <= 360) |
| { |
| CAM_Orientation.Azimuth = GPS_pWaypoint->Heading; |
| CAM_Orientation.UpdateMask |= CAM_UPDATE_AZIMUTH; |
| } |
| */ |
| } |
| BeepTime = 50; |
| } |
| break; |
| |
| case 'u': // redirect debug uart |
| switch(SerialMsg.pData[0]) |
| { |
| case UART_FLIGHTCTRL: |
| UART2_Init(); // initialize UART2 to FC pins |
| fifo_purge(&UART1_rx_fifo); |
| TIMER2_Deinit(); // reduce irq load |
| DebugUART = UART2; |
| break; |
| case UART_MK3MAG: |
| if(FC.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; |
| |
| if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
| { |
| PointList_Clear(); |
| GPS_pWaypoint = PointList_WPBegin(); |
| UART1_Request_WritePoint = 0; // return new point count |
| } |
| else |
| { // update WP in list at index |
| UART1_Request_WritePoint = PointList_SetAt(pPoint); |
| if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
| if(UART1_Request_WritePoint == pPoint->Index) |
| { |
| BeepTime = 500; |
| } |
| } |
| } |
| break; |
| |
| case 'x':// Read Waypoint from List |
| UART1_Request_ReadPoint = SerialMsg.pData[0]; |
| break; |
| |
| case 'j':// Set/Get NC-Parameter |
| switch(SerialMsg.pData[0]) |
| { |
| case 0: // get |
| break; |
| |
| case 1: // set |
| { |
| s16 value; |
| value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
| NCParams_SetValue(SerialMsg.pData[1], &value); |
| } |
| break; |
| |
| default: |
| break; |
| } |
| UART1_Request_ParameterId = SerialMsg.pData[1]; |
| UART1_Request_Parameter = TRUE; |
| break; |
| default: |
| // unsupported command recieved |
| break; |
| } // case NC_ADDRESS |
| // "break;" is missing here to fall thru to the common commands |
| |
| default: // and any other Slave Address |
| |
| switch(SerialMsg.CmdID) // check CmdID |
| { |
| case 'a':// request for the labels of the analog debug outputs |
| UART1_Request_DebugLabel = SerialMsg.pData[0]; |
| if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
| break; |
| /* |
| case 'b': // submit extern control |
| memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
| UART1_ConfirmFrame = ExternControl.Frame; |
| break; |
| */ |
| case 'd': // request for debug data; |
| UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
| if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
| UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
| break; |
| |
| case 'c': // request for 3D data; |
| UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
| if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
| UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
| break; |
| |
| case 'h':// reqest for display line |
| if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
| { |
| UART1_DisplayLine = 2; |
| UART1_Display_Interval = 0; |
| } |
| else |
| { |
| UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
| UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
| UART1_DisplayLine = 4; |
| UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
| } |
| UART1_Request_Display = TRUE; |
| break; |
| |
| case 'l':// reqest for display columns |
| MenuItem = SerialMsg.pData[0]; |
| UART1_Request_Display1 = TRUE; |
| break; |
| |
| case 'o': // request for navigation information |
| UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
| if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
| UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
| break; |
| |
| case 'v': // request for version info |
| UART1_Request_VersionInfo = TRUE; |
| break; |
| default: |
| // unsupported command recieved |
| break; |
| } |
| break; // default: |
| } |
| Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
| } |
| |
| |
| /*****************************************************/ |
| /* Send a character */ |
| /*****************************************************/ |
| s16 UART1_Putchar(char c) |
| { |
| if (c == '\n') UART1_Putchar('\r'); |
| // wait until txd fifo is not full |
| while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
| // transmit byte |
| UART_SendData(UART1, c); |
| return (0); |
| } |
| |
| /*****************************************************/ |
| /* Send a string to the debug uart */ |
| /*****************************************************/ |
| void UART1_PutString(u8 *s) |
| { |
| if(s == NULL) return; |
| while (*s != '\0' && DebugUART == UART1) |
| { |
| UART1_Putchar(*s); |
| s ++; |
| } |
| } |
| |
| |
| /**************************************************************/ |
| /* Transmit tx buffer via debug uart */ |
| /**************************************************************/ |
| void UART1_Transmit(void) |
| { |
| u8 tmp_tx; |
| if(DebugUART != UART1) return; |
| // if something has to be send and the txd fifo is not full |
| if(UART1_tx_buffer.Locked == TRUE) |
| { |
| // while there is some space in the tx fifo |
| while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
| { |
| tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
| UART_SendData(UART1, tmp_tx); // put character to txd fifo |
| // if terminating character or end of txd buffer reached |
| if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
| { |
| Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
| break; // end while loop |
| } |
| } |
| } |
| } |
| |
| /**************************************************************/ |
| /* Send the answers to incomming commands at the debug uart */ |
| /**************************************************************/ |
| void UART1_TransmitTxData(void) |
| { |
| if(DebugUART != UART1) return; |
| |
| if(CheckDelay(UART1_AboTimeOut)) |
| { |
| UART1_DebugData_Interval = 0; |
| UART1_NaviData_Interval = 0; |
| UART1_Data3D_Interval = 0; |
| UART1_Display_Interval = 0; |
| } |
| |
| UART1_Transmit(); // output pending bytes in tx buffer |
| if((UART1_tx_buffer.Locked == TRUE)) return; |
| |
| if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
| { |
| s16 ParamValue; |
| NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
| MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
| UART1_Request_Parameter = FALSE; |
| } |
| else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
| { |
| MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
| Echo = 0; // reset echo value |
| UART1_Request_Echo = FALSE; |
| } |
| else if((UART1_Request_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; |
| } |
| else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
| { |
| NaviData.Errorcode = ErrorCode; |
| MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
| UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
| UART1_Request_NaviData = FALSE; |
| } |
| else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
| { |
| MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
| UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
| UART1_Request_DebugData = FALSE; |
| } |
| else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
| { |
| MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
| UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
| UART1_Request_Data3D = FALSE; |
| } |
| /* |
| else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
| { |
| MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
| UART1_ConfirmFrame = 0; |
| } |
| */ |
| /* |
| else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
| { |
| MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
| UART1_Request_ExternalControl = FALSE; |
| } |
| */ |
| else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
| { |
| if(UART1_DisplayLine > 3) |
| { |
| Menu_Update(UART1_DisplayKeys); |
| UART1_DisplayKeys = 0; |
| MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
| } |
| else |
| { |
| UART1_DisplayLine = 2; |
| sprintf(text,"!!! incompatible !!!"); |
| MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
| if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
| } |
| UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
| UART1_Request_Display = FALSE; |
| } |
| else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
| { |
| Menu_Update(0); |
| MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
| UART1_Request_Display1 = FALSE; |
| } |
| else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
| { |
| MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
| UART1_Request_VersionInfo = FALSE; |
| } |
| else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
| { |
| MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
| UART1_Request_ErrorMessage = FALSE; |
| } |
| #ifdef DEBUG // only include functions if DEBUG is defined |
| 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 |
| } |
| |