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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + 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 |
35 | // + 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 |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | #include <stdio.h> |
56 | #include <stdio.h> |
57 | #include <stdarg.h> |
57 | #include <stdarg.h> |
58 | #include <string.h> |
58 | #include <string.h> |
59 | 59 | ||
60 | #include "91x_lib.h" |
60 | #include "91x_lib.h" |
61 | #include "main.h" |
61 | #include "main.h" |
62 | #include "config.h" |
62 | #include "config.h" |
63 | #include "menu.h" |
63 | #include "menu.h" |
64 | #include "GPS.h" |
64 | #include "GPS.h" |
65 | #include "i2c.h" |
65 | #include "i2c.h" |
66 | #include "uart0.h" |
66 | #include "uart0.h" |
67 | #include "uart1.h" |
67 | #include "uart1.h" |
68 | #include "uart2.h" |
68 | #include "uart2.h" |
69 | #include "timer1.h" |
69 | #include "timer1.h" |
70 | #include "timer2.h" |
70 | #include "timer2.h" |
71 | #include "analog.h" |
71 | #include "analog.h" |
72 | #include "compass.h" |
72 | #include "compass.h" |
73 | #include "waypoints.h" |
73 | #include "waypoints.h" |
74 | #include "mkprotocol.h" |
74 | #include "mkprotocol.h" |
75 | #include "params.h" |
75 | #include "params.h" |
76 | #include "fifo.h" |
76 | #include "fifo.h" |
77 | #include "debug.h" |
77 | #include "debug.h" |
78 | #include "spi_slave.h" |
78 | #include "spi_slave.h" |
79 | #include "ftphelper.h" |
79 | #include "ftphelper.h" |
80 | #include "led.h" |
80 | #include "led.h" |
81 | #include "fat16.h" |
81 | #include "fat16.h" |
82 | 82 | ||
83 | 83 | ||
84 | #define FALSE 0 |
84 | #define FALSE 0 |
85 | #define TRUE 1 |
85 | #define TRUE 1 |
86 | 86 | ||
87 | #define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
87 | #define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
88 | u32 UART1_AboTimeOut = 0; |
88 | u32 UART1_AboTimeOut = 0; |
89 | 89 | ||
90 | u8 UART1_Request_VersionInfo = FALSE; |
90 | u8 UART1_Request_VersionInfo = FALSE; |
91 | u8 UART1_Request_ExternalControl= FALSE; |
91 | u8 UART1_Request_ExternalControl= FALSE; |
92 | u8 UART1_Request_Display = FALSE; |
92 | u8 UART1_Request_Display = FALSE; |
93 | u8 UART1_Request_Display1 = FALSE; |
93 | u8 UART1_Request_Display1 = FALSE; |
94 | u8 UART1_Request_DebugData = FALSE; |
94 | u8 UART1_Request_DebugData = FALSE; |
95 | u8 UART1_Request_DebugLabel = 255; |
95 | u8 UART1_Request_DebugLabel = 255; |
96 | u8 UART1_Request_NaviData = FALSE; |
96 | u8 UART1_Request_NaviData = FALSE; |
97 | u8 UART1_Request_ErrorMessage = FALSE; |
97 | u8 UART1_Request_ErrorMessage = FALSE; |
98 | u8 UART1_Request_WritePoint = 0xFF; |
98 | u8 UART1_Request_WritePoint = 0xFF; |
99 | u8 UART1_Request_ReadPoint = 0; |
99 | u8 UART1_Request_ReadPoint = 0; |
100 | u8 UART1_Request_Data3D = FALSE; |
100 | u8 UART1_Request_Data3D = FALSE; |
101 | u8 UART1_Request_MotorData = FALSE; |
101 | u8 UART1_Request_MotorData = FALSE; |
102 | u8 UART1_Request_Echo = FALSE; |
102 | u8 UART1_Request_Echo = FALSE; |
103 | u8 UART1_Request_ParameterId = 0; |
103 | u8 UART1_Request_ParameterId = 0; |
104 | u8 UART1_Request_Parameter = FALSE; |
104 | u8 UART1_Request_Parameter = FALSE; |
105 | u8 UART1_Request_SystemTime = FALSE; |
105 | u8 UART1_Request_SystemTime = FALSE; |
106 | u8 UART1_DisplayKeys = 0; |
106 | u8 UART1_DisplayKeys = 0; |
107 | u8 UART1_DisplayLine = 0; |
107 | u8 UART1_DisplayLine = 0; |
108 | u8 UART1_ConfirmFrame = 0; |
108 | u8 UART1_ConfirmFrame = 0; |
109 | u8 UART1_Request_FTP = FALSE; |
109 | u8 UART1_Request_FTP = FALSE; |
110 | u8 LastTransmittedFCStatusFlags2 = 0; |
110 | u8 LastTransmittedFCStatusFlags2 = 0; |
111 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
111 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
112 | 112 | ||
113 | UART_TypeDef *DebugUART = UART1; |
113 | UART_TypeDef *DebugUART = UART1; |
114 | 114 | ||
115 | #ifdef FOLLOW_ME |
115 | #ifdef FOLLOW_ME |
116 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
116 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
117 | u32 UART1_FollowMe_Timer = 0; |
117 | u32 UART1_FollowMe_Timer = 0; |
118 | Point_t FollowMe; |
118 | Point_t FollowMe; |
119 | #endif |
119 | #endif |
120 | 120 | ||
121 | // the primary rx fifo |
121 | // the primary rx fifo |
122 | #define UART1_RX_FIFO_LEN 1024 |
122 | #define UART1_RX_FIFO_LEN 1024 |
123 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
123 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
124 | fifo_t UART1_rx_fifo; |
124 | fifo_t UART1_rx_fifo; |
125 | 125 | ||
126 | // the rx buffer |
126 | // the rx buffer |
127 | #define UART1_RX_BUFFER_LEN 1024 |
127 | #define UART1_RX_BUFFER_LEN 1024 |
128 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
128 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
129 | Buffer_t UART1_rx_buffer; |
129 | Buffer_t UART1_rx_buffer; |
130 | 130 | ||
131 | // the tx buffer |
131 | // the tx buffer |
132 | #define UART1_TX_BUFFER_LEN 1024 |
132 | #define UART1_TX_BUFFER_LEN 1024 |
133 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
133 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
134 | Buffer_t UART1_tx_buffer; |
134 | Buffer_t UART1_tx_buffer; |
135 | 135 | ||
136 | volatile u8 SerialLinkOkay = 0; |
136 | volatile u8 SerialLinkOkay = 0; |
137 | 137 | ||
138 | u8 text[200]; |
138 | u8 text[200]; |
139 | 139 | ||
140 | const u8 ANALOG_LABEL[32][16] = |
140 | const u8 ANALOG_LABEL[32][16] = |
141 | { |
141 | { |
142 | //1234567890123456 |
142 | //1234567890123456 |
143 | "AngleNick ", //0 |
143 | "AngleNick ", //0 |
144 | "AngleRoll ", |
144 | "AngleRoll ", |
145 | "AccNick ", |
145 | "AccNick ", |
146 | "AccRoll ", |
146 | "AccRoll ", |
147 | "OperatingRadius ", |
147 | "OperatingRadius ", |
148 | "FC-Flags ", //5 |
148 | "FC-Flags ", //5 |
149 | "NC-Flags ", |
149 | "NC-Flags ", |
150 | "NickServo ", |
150 | "NickServo ", |
151 | "RollServo ", |
151 | "RollServo ", |
152 | "GPS Data ", |
152 | "GPS Data ", |
153 | "CompassHeading ", //10 |
153 | "CompassHeading ", //10 |
154 | "GyroHeading ", |
154 | "GyroHeading ", |
155 | "SPI Error ", // achtung: muss auf 12 bleiben |
155 | "SPI Error ", // achtung: muss auf 12 bleiben |
156 | "SPI Okay ", |
156 | "SPI Okay ", |
157 | "I2C Error ", |
157 | "I2C Error ", |
158 | "I2C Okay ", //15 |
158 | "I2C Okay ", //15 |
159 | "16 ", |
159 | "16 ", |
160 | "17 ", |
160 | "17 ", |
161 | "18 ", |
161 | "18 ", |
162 | "19 ", // SD-Card-time |
162 | "19 ", // SD-Card-time |
163 | "EarthMagnet [%] ", //20 |
163 | "EarthMagnet [%] ", //20 |
164 | "Z_Speed ", |
164 | "Z_Speed ", |
165 | "N_Speed ", |
165 | "N_Speed ", |
166 | "E_Speed ", |
166 | "E_Speed ", |
167 | "Magnet X ", |
167 | "Magnet X ", |
168 | "Magnet Y ", //25 |
168 | "Magnet Y ", //25 |
169 | "Magnet Z ", |
169 | "Magnet Z ", |
170 | "Distance N ", |
170 | "Distance N ", |
171 | "Distance E ", |
171 | "Distance E ", |
172 | "GPS_Nick ", |
172 | "GPS_Nick ", |
173 | "GPS_Roll ", //30 |
173 | "GPS_Roll ", //30 |
174 | "Used_Sats " |
174 | "Used_Sats " |
175 | }; |
175 | }; |
176 | 176 | ||
177 | DebugOut_t DebugOut; |
177 | DebugOut_t DebugOut; |
178 | ExternControl_t ExternControl; |
178 | ExternControl_t ExternControl; |
179 | UART_VersionInfo_t UART_VersionInfo; |
179 | UART_VersionInfo_t UART_VersionInfo; |
180 | NaviData_t NaviData; |
180 | NaviData_t NaviData; |
181 | Data3D_t Data3D; |
181 | Data3D_t Data3D; |
182 | u16 Echo; // 2 bytes recieved will be sent back as echo |
182 | u16 Echo; // 2 bytes recieved will be sent back as echo |
183 | 183 | ||
184 | u32 UART1_DebugData_Timer = 0; |
184 | u32 UART1_DebugData_Timer = 0; |
185 | u32 UART1_DebugData_Interval = 0; // in ms |
185 | u32 UART1_DebugData_Interval = 0; // in ms |
186 | u32 UART1_NaviData_Timer = 0; |
186 | u32 UART1_NaviData_Timer = 0; |
187 | u32 UART1_NaviData_Interval = 0; // in ms |
187 | u32 UART1_NaviData_Interval = 0; // in ms |
188 | u32 UART1_Data3D_Timer = 0; |
188 | u32 UART1_Data3D_Timer = 0; |
189 | u32 UART1_Data3D_Interval = 0; // in ms |
189 | u32 UART1_Data3D_Interval = 0; // in ms |
190 | u32 UART1_MotorData_Timer = 0; |
190 | u32 UART1_MotorData_Timer = 0; |
191 | u32 UART1_MotorData_Interval = 0; // in ms |
191 | u32 UART1_MotorData_Interval = 0; // in ms |
192 | u32 UART1_Display_Timer = 0; |
192 | u32 UART1_Display_Timer = 0; |
193 | u32 UART1_Display_Interval = 0; // in ms |
193 | u32 UART1_Display_Interval = 0; // in ms |
194 | 194 | ||
195 | /********************************************************/ |
195 | /********************************************************/ |
196 | /* Initialization the UART1 */ |
196 | /* Initialization the UART1 */ |
197 | /********************************************************/ |
197 | /********************************************************/ |
198 | void UART1_Init (void) |
198 | void UART1_Init (void) |
199 | { |
199 | { |
200 | GPIO_InitTypeDef GPIO_InitStructure; |
200 | GPIO_InitTypeDef GPIO_InitStructure; |
201 | UART_InitTypeDef UART_InitStructure; |
201 | UART_InitTypeDef UART_InitStructure; |
202 | 202 | ||
203 | // initialize txd buffer |
203 | // initialize txd buffer |
204 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
204 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
205 | 205 | ||
206 | // initialize rxd buffer |
206 | // initialize rxd buffer |
207 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
207 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
208 | 208 | ||
209 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
209 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
210 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
210 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
211 | 211 | ||
212 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
212 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
213 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
213 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
214 | 214 | ||
215 | /*Configure UART1_Rx pin GPIO3.2*/ |
215 | /*Configure UART1_Rx pin GPIO3.2*/ |
216 | GPIO_StructInit(&GPIO_InitStructure); |
216 | GPIO_StructInit(&GPIO_InitStructure); |
217 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
217 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
218 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
218 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
219 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
219 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
220 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
220 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
221 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
221 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
222 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
222 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
223 | 223 | ||
224 | /*Configure UART1_Tx pin GPIO3.3*/ |
224 | /*Configure UART1_Tx pin GPIO3.3*/ |
225 | GPIO_StructInit(&GPIO_InitStructure); |
225 | GPIO_StructInit(&GPIO_InitStructure); |
226 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
226 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
227 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
227 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
228 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
228 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
229 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
229 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
230 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
230 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
231 | 231 | ||
232 | /* UART1 configured as follow: |
232 | /* UART1 configured as follow: |
233 | - Word Length = 8 Bits |
233 | - Word Length = 8 Bits |
234 | - One Stop Bit |
234 | - One Stop Bit |
235 | - No parity |
235 | - No parity |
236 | - BaudRate = 57600 baud |
236 | - BaudRate = 57600 baud |
237 | - Hardware flow control Disabled |
237 | - Hardware flow control Disabled |
238 | - Receive and transmit enabled |
238 | - Receive and transmit enabled |
239 | - Receive and transmit FIFOs are Disabled |
239 | - Receive and transmit FIFOs are Disabled |
240 | */ |
240 | */ |
241 | UART_StructInit(&UART_InitStructure); |
241 | UART_StructInit(&UART_InitStructure); |
242 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
242 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
243 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
243 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
244 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
244 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
245 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
245 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
246 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
246 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
247 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
247 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
248 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
248 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
249 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
249 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
250 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
250 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
251 | 251 | ||
252 | UART_DeInit(UART1); // reset uart 1 to default |
252 | UART_DeInit(UART1); // reset uart 1 to default |
253 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
253 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
254 | // enable uart 1 interrupts selective |
254 | // enable uart 1 interrupts selective |
255 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
255 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
256 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
256 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
257 | // configure the uart 1 interupt line |
257 | // configure the uart 1 interupt line |
258 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
258 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
259 | // enable the uart 1 IRQ |
259 | // enable the uart 1 IRQ |
260 | VIC_ITCmd(UART1_ITLine, ENABLE); |
260 | VIC_ITCmd(UART1_ITLine, ENABLE); |
261 | 261 | ||
262 | // initialize the debug timer |
262 | // initialize the debug timer |
263 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
263 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
264 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
264 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
265 | 265 | ||
266 | // Fill Version Info Structure |
266 | // Fill Version Info Structure |
267 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
267 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
268 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
268 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
269 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
269 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
270 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
270 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
271 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
271 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
272 | - | ||
- | 272 | UART_VersionInfo.HWMajor = Version_HW; |
|
- | 273 | UART_VersionInfo.reserved2 = 0; |
|
- | 274 | UART_VersionInfo.Flags = 0; |
|
273 | NaviData.Version = NAVIDATA_VERSION; |
275 | NaviData.Version = NAVIDATA_VERSION; |
274 | 276 | ||
275 | UART1_PutString("\r\n UART1 init...ok"); |
277 | UART1_PutString("\r\n UART1 init...ok"); |
276 | } |
278 | } |
277 | 279 | ||
278 | 280 | ||
279 | /****************************************************************/ |
281 | /****************************************************************/ |
280 | /* USART1 receiver ISR */ |
282 | /* USART1 receiver ISR */ |
281 | /****************************************************************/ |
283 | /****************************************************************/ |
282 | void UART1_IRQHandler(void) |
284 | void UART1_IRQHandler(void) |
283 | { |
285 | { |
284 | static u8 abortState = 0; |
286 | static u8 abortState = 0; |
285 | u8 c; |
287 | u8 c; |
286 | 288 | ||
287 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
289 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
288 | { |
290 | { |
289 | // clear the pending bits! |
291 | // clear the pending bits! |
290 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
292 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
291 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
293 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
292 | // if debug UART is not UART1 |
294 | // if debug UART is not UART1 |
293 | if (DebugUART != UART1) |
295 | if (DebugUART != UART1) |
294 | { // forward received data to the debug UART tx buffer |
296 | { // forward received data to the debug UART tx buffer |
295 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
297 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
296 | { |
298 | { |
297 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
299 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
298 | c = UART_ReceiveData(UART1); |
300 | c = UART_ReceiveData(UART1); |
299 | 301 | ||
300 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
302 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
301 | switch (abortState) |
303 | switch (abortState) |
302 | { |
304 | { |
303 | case 0: |
305 | case 0: |
304 | if (c == 27) abortState++; |
306 | if (c == 27) abortState++; |
305 | break; |
307 | break; |
306 | case 1: |
308 | case 1: |
307 | if (c == 27) abortState++; |
309 | if (c == 27) abortState++; |
308 | else abortState = 0; |
310 | else abortState = 0; |
309 | break; |
311 | break; |
310 | case 2: |
312 | case 2: |
311 | if (c == 0x55) abortState++; |
313 | if (c == 0x55) abortState++; |
312 | else abortState = 0; |
314 | else abortState = 0; |
313 | break; |
315 | break; |
314 | case 3: |
316 | case 3: |
315 | if (c == 0xAA) abortState++; |
317 | if (c == 0xAA) abortState++; |
316 | else abortState = 0; |
318 | else abortState = 0; |
317 | break; |
319 | break; |
318 | case 4: |
320 | case 4: |
319 | if (c == 0x00) |
321 | if (c == 0x00) |
320 | { |
322 | { |
321 | if(DebugUART == UART0) |
323 | if(DebugUART == UART0) |
322 | { |
324 | { |
323 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
325 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
324 | TIMER2_Init(); // enbable servo outputs |
326 | TIMER2_Init(); // enbable servo outputs |
325 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
327 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
326 | } |
328 | } |
327 | DebugUART = UART1; |
329 | DebugUART = UART1; |
328 | } |
330 | } |
329 | abortState = 0; |
331 | abortState = 0; |
330 | break; |
332 | break; |
331 | } // end switch abort state |
333 | } // end switch abort state |
332 | // if the Debug uart is not UART1, redirect input to the Debug UART |
334 | // if the Debug uart is not UART1, redirect input to the Debug UART |
333 | if (DebugUART != UART1) |
335 | if (DebugUART != UART1) |
334 | { |
336 | { |
335 | // wait for space in the tx buffer of the DebugUART |
337 | // wait for space in the tx buffer of the DebugUART |
336 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
338 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
337 | // move byte to the tx fifo of the debug uart |
339 | // move byte to the tx fifo of the debug uart |
338 | UART_SendData(DebugUART, c); |
340 | UART_SendData(DebugUART, c); |
339 | } |
341 | } |
340 | } |
342 | } |
341 | } |
343 | } |
342 | else // DebugUART == UART1 (normal operation) |
344 | else // DebugUART == UART1 (normal operation) |
343 | { |
345 | { |
344 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
346 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
345 | { // some byes in the hardware fifo |
347 | { // some byes in the hardware fifo |
346 | // get byte from hardware fifo |
348 | // get byte from hardware fifo |
347 | c = UART_ReceiveData(UART1); |
349 | c = UART_ReceiveData(UART1); |
348 | // put into the software fifo |
350 | // put into the software fifo |
349 | if(!fifo_put(&UART1_rx_fifo, c)) |
351 | if(!fifo_put(&UART1_rx_fifo, c)) |
350 | { // fifo overflow |
352 | { // fifo overflow |
351 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
353 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
352 | } |
354 | } |
353 | } // EOF while some byes in the hardware fifo |
355 | } // EOF while some byes in the hardware fifo |
354 | } // eof DebugUart = UART1 |
356 | } // eof DebugUart = UART1 |
355 | } |
357 | } |
356 | 358 | ||
357 | 359 | ||
358 | 360 | ||
359 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
361 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
360 | } |
362 | } |
361 | 363 | ||
362 | /**************************************************************/ |
364 | /**************************************************************/ |
363 | /* Process incomming data from debug uart */ |
365 | /* Process incomming data from debug uart */ |
364 | /**************************************************************/ |
366 | /**************************************************************/ |
365 | void UART1_ProcessRxData(void) |
367 | void UART1_ProcessRxData(void) |
366 | { |
368 | { |
367 | // return on forwarding uart or unlocked rx buffer |
369 | // return on forwarding uart or unlocked rx buffer |
368 | u8 c; |
370 | u8 c; |
369 | if(DebugUART != UART1) return; |
371 | if(DebugUART != UART1) return; |
370 | // if rx buffer is not locked |
372 | // if rx buffer is not locked |
371 | if(UART1_rx_buffer.Locked == FALSE) |
373 | if(UART1_rx_buffer.Locked == FALSE) |
372 | { |
374 | { |
373 | //collect data from primary rx fifo |
375 | //collect data from primary rx fifo |
374 | while(fifo_get(&UART1_rx_fifo, &c)) |
376 | while(fifo_get(&UART1_rx_fifo, &c)) |
375 | { |
377 | { |
376 | // break if complete frame is collected |
378 | // break if complete frame is collected |
377 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
379 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
378 | } |
380 | } |
379 | } |
381 | } |
380 | if(UART1_rx_buffer.Locked == FALSE) return; |
382 | if(UART1_rx_buffer.Locked == FALSE) return; |
381 | 383 | ||
382 | Point_t * pPoint = NULL; |
384 | Point_t * pPoint = NULL; |
383 | SerialMsg_t SerialMsg; |
385 | SerialMsg_t SerialMsg; |
384 | 386 | ||
385 | // analyze header first |
387 | // analyze header first |
386 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
388 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
387 | if( SerialMsg.Address == FC_ADDRESS ) |
389 | if( SerialMsg.Address == FC_ADDRESS ) |
388 | { |
390 | { |
389 | switch(SerialMsg.CmdID) |
391 | switch(SerialMsg.CmdID) |
390 | { |
392 | { |
391 | // case 'v': // version |
393 | // case 'v': // version |
392 | case 'b': // extern control |
394 | case 'b': // extern control |
393 | UART1_ExternalControlConfirmFrame = 1; |
395 | UART1_ExternalControlConfirmFrame = 1; |
394 | case 'y': // serial poti values |
396 | case 'y': // serial poti values |
395 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
397 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
396 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
398 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
397 | return; //end process rx data |
399 | return; //end process rx data |
398 | break; |
400 | break; |
399 | } |
401 | } |
400 | } |
402 | } |
401 | 403 | ||
402 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
404 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
403 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
405 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
404 | switch(SerialMsg.Address) // check for Slave Address |
406 | switch(SerialMsg.Address) // check for Slave Address |
405 | { |
407 | { |
406 | case NC_ADDRESS: // own Slave Address |
408 | case NC_ADDRESS: // own Slave Address |
407 | switch(SerialMsg.CmdID) |
409 | switch(SerialMsg.CmdID) |
408 | { |
410 | { |
409 | case 't': // request for the GPS time |
411 | case 't': // request for the GPS time |
410 | UART1_Request_SystemTime = TRUE; |
412 | UART1_Request_SystemTime = TRUE; |
411 | break; |
413 | break; |
412 | 414 | ||
413 | case 'f': // ftp command |
415 | case 'f': // ftp command |
414 | UART1_Request_FTP = SerialMsg.pData[0]; |
416 | UART1_Request_FTP = SerialMsg.pData[0]; |
415 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
417 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
416 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
418 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
417 | break; |
419 | break; |
418 | 420 | ||
419 | case 'z': // connection checker |
421 | case 'z': // connection checker |
420 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
422 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
421 | UART1_Request_Echo = TRUE; |
423 | UART1_Request_Echo = TRUE; |
422 | break; |
424 | break; |
423 | 425 | ||
424 | case 'e': // request for the text of the error status |
426 | case 'e': // request for the text of the error status |
425 | UART1_Request_ErrorMessage = TRUE; |
427 | UART1_Request_ErrorMessage = TRUE; |
426 | break; |
428 | break; |
427 | 429 | ||
428 | case 's':// new target position |
430 | case 's':// new target position |
429 | pPoint = (Point_t*)SerialMsg.pData; |
431 | pPoint = (Point_t*)SerialMsg.pData; |
430 | if(pPoint->Position.Status == NEWDATA) |
432 | if(pPoint->Position.Status == NEWDATA) |
431 | { |
433 | { |
432 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
434 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
433 | //pPoint->Index = 1; // must be one after empty list |
435 | //pPoint->Index = 1; // must be one after empty list |
434 | PointList_SetAt(pPoint); |
436 | PointList_SetAt(pPoint); |
435 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
437 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
436 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
438 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
437 | if(GPS_pWaypoint != NULL) // if new WP exist |
439 | if(GPS_pWaypoint != NULL) // if new WP exist |
438 | { // update WP hold time stamp immediately! |
440 | { // update WP hold time stamp immediately! |
439 | EnableNewWpHeading(); |
441 | EnableNewWpHeading(); |
440 | /* if(GPS_pWaypoint->Heading > 0 && GPS_pWaypoint->Heading <= 360) |
442 | /* if(GPS_pWaypoint->Heading > 0 && GPS_pWaypoint->Heading <= 360) |
441 | { |
443 | { |
442 | CAM_Orientation.Azimuth = GPS_pWaypoint->Heading; |
444 | CAM_Orientation.Azimuth = GPS_pWaypoint->Heading; |
443 | CAM_Orientation.UpdateMask |= CAM_UPDATE_AZIMUTH; |
445 | CAM_Orientation.UpdateMask |= CAM_UPDATE_AZIMUTH; |
444 | } |
446 | } |
445 | */ |
447 | */ |
446 | } |
448 | } |
447 | BeepTime = 50; |
449 | BeepTime = 50; |
448 | } |
450 | } |
449 | break; |
451 | break; |
450 | 452 | ||
451 | case 'u': // redirect debug uart |
453 | case 'u': // redirect debug uart |
452 | switch(SerialMsg.pData[0]) |
454 | switch(SerialMsg.pData[0]) |
453 | { |
455 | { |
454 | case UART_FLIGHTCTRL: |
456 | case UART_FLIGHTCTRL: |
455 | UART2_Init(); // initialize UART2 to FC pins |
457 | UART2_Init(); // initialize UART2 to FC pins |
456 | fifo_purge(&UART1_rx_fifo); |
458 | fifo_purge(&UART1_rx_fifo); |
457 | TIMER2_Deinit(); // reduce irq load |
459 | TIMER2_Deinit(); // reduce irq load |
458 | DebugUART = UART2; |
460 | DebugUART = UART2; |
459 | break; |
461 | break; |
460 | case UART_MK3MAG: |
462 | case UART_MK3MAG: |
461 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
463 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
462 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
464 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
463 | GPSData.Status = INVALID; |
465 | GPSData.Status = INVALID; |
464 | fifo_purge(&UART1_rx_fifo); |
466 | fifo_purge(&UART1_rx_fifo); |
465 | DebugUART = UART0; |
467 | DebugUART = UART0; |
466 | break; |
468 | break; |
467 | case UART_MKGPS: |
469 | case UART_MKGPS: |
468 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
470 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
469 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
471 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
470 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
472 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
471 | GPSData.Status = INVALID; |
473 | GPSData.Status = INVALID; |
472 | fifo_purge(&UART1_rx_fifo); |
474 | fifo_purge(&UART1_rx_fifo); |
473 | DebugUART = UART0; |
475 | DebugUART = UART0; |
474 | break; |
476 | break; |
475 | default: |
477 | default: |
476 | break; |
478 | break; |
477 | } |
479 | } |
478 | break; |
480 | break; |
479 | 481 | ||
480 | case 'w':// Set point in list at index |
482 | case 'w':// Set point in list at index |
481 | { |
483 | { |
482 | pPoint = (Point_t*)SerialMsg.pData; |
484 | pPoint = (Point_t*)SerialMsg.pData; |
483 | 485 | ||
484 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
486 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
485 | { |
487 | { |
486 | PointList_Clear(); |
488 | PointList_Clear(); |
487 | GPS_pWaypoint = PointList_WPBegin(); |
489 | GPS_pWaypoint = PointList_WPBegin(); |
488 | UART1_Request_WritePoint = 0; // return new point count |
490 | UART1_Request_WritePoint = 0; // return new point count |
489 | } |
491 | } |
490 | else |
492 | else |
491 | { // update WP in list at index |
493 | { // update WP in list at index |
492 | if(pPoint->Index > MaxNumberOfWaypoints) |
494 | if(pPoint->Index > MaxNumberOfWaypoints) |
493 | { |
495 | { |
494 | UART1_Request_WritePoint = 254; |
496 | UART1_Request_WritePoint = 254; |
495 | pPoint->Index = MaxNumberOfWaypoints; |
497 | pPoint->Index = MaxNumberOfWaypoints; |
496 | } |
498 | } |
497 | else |
499 | else |
498 | UART1_Request_WritePoint = PointList_SetAt(pPoint); |
500 | UART1_Request_WritePoint = PointList_SetAt(pPoint); |
499 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
501 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
500 | if(UART1_Request_WritePoint == pPoint->Index) |
502 | if(UART1_Request_WritePoint == pPoint->Index) |
501 | { |
503 | { |
502 | BeepTime = 500; |
504 | BeepTime = 500; |
503 | } |
505 | } |
504 | } |
506 | } |
505 | } |
507 | } |
506 | break; |
508 | break; |
507 | 509 | ||
508 | case 'x':// Read Waypoint from List |
510 | case 'x':// Read Waypoint from List |
509 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
511 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
510 | break; |
512 | break; |
511 | 513 | ||
512 | case 'j':// Set/Get NC-Parameter |
514 | case 'j':// Set/Get NC-Parameter |
513 | switch(SerialMsg.pData[0]) |
515 | switch(SerialMsg.pData[0]) |
514 | { |
516 | { |
515 | case 0: // get |
517 | case 0: // get |
516 | break; |
518 | break; |
517 | 519 | ||
518 | case 1: // set |
520 | case 1: // set |
519 | { |
521 | { |
520 | s16 value; |
522 | s16 value; |
521 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
523 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
522 | NCParams_SetValue(SerialMsg.pData[1], &value); |
524 | NCParams_SetValue(SerialMsg.pData[1], &value); |
523 | } |
525 | } |
524 | break; |
526 | break; |
525 | 527 | ||
526 | default: |
528 | default: |
527 | break; |
529 | break; |
528 | } |
530 | } |
529 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
531 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
530 | UART1_Request_Parameter = TRUE; |
532 | UART1_Request_Parameter = TRUE; |
531 | break; |
533 | break; |
532 | default: |
534 | default: |
533 | // unsupported command recieved |
535 | // unsupported command recieved |
534 | break; |
536 | break; |
535 | } // case NC_ADDRESS |
537 | } // case NC_ADDRESS |
536 | // "break;" is missing here to fall thru to the common commands |
538 | // "break;" is missing here to fall thru to the common commands |
537 | 539 | ||
538 | default: // and any other Slave Address |
540 | default: // and any other Slave Address |
539 | 541 | ||
540 | switch(SerialMsg.CmdID) // check CmdID |
542 | switch(SerialMsg.CmdID) // check CmdID |
541 | { |
543 | { |
542 | case 'a':// request for the labels of the analog debug outputs |
544 | case 'a':// request for the labels of the analog debug outputs |
543 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
545 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
544 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
546 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
545 | break; |
547 | break; |
546 | /* |
548 | /* |
547 | case 'b': // submit extern control |
549 | case 'b': // submit extern control |
548 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
550 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
549 | UART1_ConfirmFrame = ExternControl.Frame; |
551 | UART1_ConfirmFrame = ExternControl.Frame; |
550 | break; |
552 | break; |
551 | */ |
553 | */ |
552 | case 'd': // request for debug data; |
554 | case 'd': // request for debug data; |
553 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
555 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
554 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
556 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
555 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
557 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
556 | break; |
558 | break; |
557 | 559 | ||
558 | case 'c': // request for 3D data; |
560 | case 'c': // request for 3D data; |
559 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
561 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
560 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
562 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
561 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
563 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
562 | break; |
564 | break; |
563 | 565 | ||
564 | case 'k': // request for Motor data; |
566 | case 'k': // request for Motor data; |
565 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
567 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
566 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
568 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
567 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
569 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
568 | break; |
570 | break; |
569 | 571 | ||
570 | case 'h':// reqest for display line |
572 | case 'h':// reqest for display line |
571 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
573 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
572 | { |
574 | { |
573 | UART1_DisplayLine = 2; |
575 | UART1_DisplayLine = 2; |
574 | UART1_Display_Interval = 0; |
576 | UART1_Display_Interval = 0; |
575 | } |
577 | } |
576 | else |
578 | else |
577 | { |
579 | { |
578 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
580 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
579 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
581 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
580 | UART1_DisplayLine = 4; |
582 | UART1_DisplayLine = 4; |
581 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
583 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
582 | } |
584 | } |
583 | UART1_Request_Display = TRUE; |
585 | UART1_Request_Display = TRUE; |
584 | break; |
586 | break; |
585 | 587 | ||
586 | case 'l':// reqest for display columns |
588 | case 'l':// reqest for display columns |
587 | MenuItem = SerialMsg.pData[0]; |
589 | MenuItem = SerialMsg.pData[0]; |
588 | UART1_Request_Display1 = TRUE; |
590 | UART1_Request_Display1 = TRUE; |
589 | break; |
591 | break; |
590 | 592 | ||
591 | case 'o': // request for navigation information |
593 | case 'o': // request for navigation information |
592 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
594 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
593 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
595 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
594 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
596 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
595 | break; |
597 | break; |
596 | 598 | ||
597 | case 'v': // request for version info |
599 | case 'v': // request for version info |
598 | UART1_Request_VersionInfo = TRUE; |
600 | UART1_Request_VersionInfo = TRUE; |
599 | break; |
601 | break; |
600 | default: |
602 | default: |
601 | // unsupported command recieved |
603 | // unsupported command recieved |
602 | break; |
604 | break; |
603 | } |
605 | } |
604 | break; // default: |
606 | break; // default: |
605 | } |
607 | } |
606 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
608 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
607 | } |
609 | } |
608 | 610 | ||
609 | 611 | ||
610 | /*****************************************************/ |
612 | /*****************************************************/ |
611 | /* Send a character */ |
613 | /* Send a character */ |
612 | /*****************************************************/ |
614 | /*****************************************************/ |
613 | s16 UART1_Putchar(char c) |
615 | s16 UART1_Putchar(char c) |
614 | { |
616 | { |
615 | u32 timeout = 10000; |
617 | u32 timeout = 10000; |
616 | if (c == '\n') UART1_Putchar('\r'); |
618 | if (c == '\n') UART1_Putchar('\r'); |
617 | // wait until txd fifo is not full |
619 | // wait until txd fifo is not full |
618 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
620 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
619 | // transmit byte |
621 | // transmit byte |
620 | UART_SendData(UART1, c); |
622 | UART_SendData(UART1, c); |
621 | #ifdef FOLLOW_ME |
623 | #ifdef FOLLOW_ME |
622 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
624 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
623 | #endif |
625 | #endif |
624 | return (0); |
626 | return (0); |
625 | } |
627 | } |
626 | 628 | ||
627 | /*****************************************************/ |
629 | /*****************************************************/ |
628 | /* Send a string to the debug uart */ |
630 | /* Send a string to the debug uart */ |
629 | /*****************************************************/ |
631 | /*****************************************************/ |
630 | void UART1_PutString(u8 *s) |
632 | void UART1_PutString(u8 *s) |
631 | { |
633 | { |
632 | if(s == NULL) return; |
634 | if(s == NULL) return; |
633 | while (*s != '\0' && DebugUART == UART1) |
635 | while (*s != '\0' && DebugUART == UART1) |
634 | { |
636 | { |
635 | UART1_Putchar(*s); |
637 | UART1_Putchar(*s); |
636 | s ++; |
638 | s ++; |
637 | } |
639 | } |
638 | } |
640 | } |
639 | 641 | ||
640 | 642 | ||
641 | /**************************************************************/ |
643 | /**************************************************************/ |
642 | /* Transmit tx buffer via debug uart */ |
644 | /* Transmit tx buffer via debug uart */ |
643 | /**************************************************************/ |
645 | /**************************************************************/ |
644 | void UART1_Transmit(void) |
646 | void UART1_Transmit(void) |
645 | { |
647 | { |
646 | u8 tmp_tx; |
648 | u8 tmp_tx; |
647 | if(DebugUART != UART1) return; |
649 | if(DebugUART != UART1) return; |
648 | // if something has to be send and the txd fifo is not full |
650 | // if something has to be send and the txd fifo is not full |
649 | if(UART1_tx_buffer.Locked == TRUE) |
651 | if(UART1_tx_buffer.Locked == TRUE) |
650 | { |
652 | { |
651 | // while there is some space in the tx fifo |
653 | // while there is some space in the tx fifo |
652 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
654 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
653 | { |
655 | { |
654 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
656 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
655 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
657 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
656 | #ifdef FOLLOW_ME |
658 | #ifdef FOLLOW_ME |
657 | if(TransmitAlsoToFC) |
659 | if(TransmitAlsoToFC) |
658 | { |
660 | { |
659 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
661 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
660 | } |
662 | } |
661 | #endif |
663 | #endif |
662 | // if terminating character or end of txd buffer reached |
664 | // if terminating character or end of txd buffer reached |
663 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
665 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
664 | { |
666 | { |
665 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
667 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
666 | #ifdef FOLLOW_ME |
668 | #ifdef FOLLOW_ME |
667 | TransmitAlsoToFC = 0; |
669 | TransmitAlsoToFC = 0; |
668 | #endif |
670 | #endif |
669 | break; // end while loop |
671 | break; // end while loop |
670 | } |
672 | } |
671 | } |
673 | } |
672 | } |
674 | } |
673 | } |
675 | } |
674 | 676 | ||
675 | 677 | ||
676 | /**************************************************************/ |
678 | /**************************************************************/ |
677 | /* Send the answers to incomming commands at the debug uart */ |
679 | /* Send the answers to incomming commands at the debug uart */ |
678 | /**************************************************************/ |
680 | /**************************************************************/ |
679 | void UART1_TransmitTxData(void) |
681 | void UART1_TransmitTxData(void) |
680 | { |
682 | { |
681 | static u8 motorindex1 = 255, motorindex2 = 0; |
683 | static u8 motorindex1 = 255, motorindex2 = 0; |
682 | if(DebugUART != UART1) return; |
684 | if(DebugUART != UART1) return; |
683 | 685 | ||
684 | if(CheckDelay(UART1_AboTimeOut)) |
686 | if(CheckDelay(UART1_AboTimeOut)) |
685 | { |
687 | { |
686 | UART1_DebugData_Interval = 0; |
688 | UART1_DebugData_Interval = 0; |
687 | UART1_NaviData_Interval = 0; |
689 | UART1_NaviData_Interval = 0; |
688 | UART1_Data3D_Interval = 0; |
690 | UART1_Data3D_Interval = 0; |
689 | UART1_Display_Interval = 0; |
691 | UART1_Display_Interval = 0; |
690 | UART1_MotorData_Interval = 0; |
692 | UART1_MotorData_Interval = 0; |
691 | } |
693 | } |
692 | 694 | ||
693 | UART1_Transmit(); // output pending bytes in tx buffer |
695 | UART1_Transmit(); // output pending bytes in tx buffer |
694 | if((UART1_tx_buffer.Locked == TRUE)) return; |
696 | if((UART1_tx_buffer.Locked == TRUE)) return; |
695 | 697 | ||
696 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
698 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
697 | { |
699 | { |
698 | s16 ParamValue; |
700 | s16 ParamValue; |
699 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
701 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
700 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
702 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
701 | UART1_Request_Parameter = FALSE; |
703 | UART1_Request_Parameter = FALSE; |
702 | } |
704 | } |
703 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
705 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
704 | { |
706 | { |
705 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
707 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
706 | Echo = 0; // reset echo value |
708 | Echo = 0; // reset echo value |
707 | UART1_Request_Echo = FALSE; |
709 | UART1_Request_Echo = FALSE; |
708 | } |
710 | } |
709 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
711 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
710 | { |
712 | { |
711 | u8 errorcode = FTP_ERROR_NONE; |
713 | u8 errorcode = FTP_ERROR_NONE; |
712 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
714 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
713 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
715 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
714 | 716 | ||
715 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
717 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
716 | else |
718 | else |
717 | { |
719 | { |
718 | u8 cmd = FTP_CMD_ERROR; |
720 | u8 cmd = FTP_CMD_ERROR; |
719 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
721 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
720 | } |
722 | } |
721 | 723 | ||
722 | UART1_Request_FTP = FALSE; |
724 | UART1_Request_FTP = FALSE; |
723 | } |
725 | } |
724 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
726 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
725 | { |
727 | { |
726 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
728 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
727 | UART1_Request_WritePoint = 0xFF; |
729 | UART1_Request_WritePoint = 0xFF; |
728 | } |
730 | } |
729 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
731 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
730 | { |
732 | { |
731 | u8 PointCount = PointList_GetCount(); |
733 | u8 PointCount = PointList_GetCount(); |
732 | if (UART1_Request_ReadPoint <= PointCount) |
734 | if (UART1_Request_ReadPoint <= PointCount) |
733 | { |
735 | { |
734 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
736 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
735 | } |
737 | } |
736 | else |
738 | else |
737 | { |
739 | { |
738 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
740 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
739 | } |
741 | } |
740 | UART1_Request_ReadPoint = 0; |
742 | UART1_Request_ReadPoint = 0; |
741 | } |
743 | } |
742 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
744 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
743 | { |
745 | { |
744 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
746 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
745 | UART1_Request_DebugLabel = 0xFF; |
747 | UART1_Request_DebugLabel = 0xFF; |
746 | } |
748 | } |
747 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
749 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
748 | { |
750 | { |
749 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
751 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
750 | UART1_ExternalControlConfirmFrame = 0; |
752 | UART1_ExternalControlConfirmFrame = 0; |
751 | } |
753 | } |
752 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
754 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
753 | { |
755 | { |
754 | NaviData.Errorcode = ErrorCode; |
756 | NaviData.Errorcode = ErrorCode; |
755 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
757 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
756 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
758 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
757 | UART1_Request_NaviData = FALSE; |
759 | UART1_Request_NaviData = FALSE; |
758 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
760 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
759 | } |
761 | } |
760 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
762 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
761 | { |
763 | { |
762 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
764 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
763 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
765 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
764 | UART1_Request_DebugData = FALSE; |
766 | UART1_Request_DebugData = FALSE; |
765 | } |
767 | } |
766 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
768 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
767 | { |
769 | { |
768 | Data3D.StickNick = FC.StickNick; |
770 | Data3D.StickNick = FC.StickNick; |
769 | Data3D.StickRoll = FC.StickRoll; |
771 | Data3D.StickRoll = FC.StickRoll; |
770 | Data3D.StickYaw = FC.StickYaw; |
772 | Data3D.StickYaw = FC.StickYaw; |
771 | Data3D.StickGas = FC.StickGas; |
773 | Data3D.StickGas = FC.StickGas; |
772 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
774 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
773 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
775 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
774 | UART1_Request_Data3D = FALSE; |
776 | UART1_Request_Data3D = FALSE; |
775 | } |
777 | } |
776 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
778 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
777 | { |
779 | { |
778 | do |
780 | do |
779 | { |
781 | { |
780 | motorindex1++; |
782 | motorindex1++; |
781 | motorindex1%=12; |
783 | motorindex1%=12; |
782 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
784 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
783 | if(motorindex1 == motorindex2) break; |
785 | if(motorindex1 == motorindex2) break; |
784 | } |
786 | } |
785 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
787 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
786 | 788 | ||
787 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
789 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
788 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
790 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
789 | UART1_Request_MotorData = FALSE; |
791 | UART1_Request_MotorData = FALSE; |
790 | } |
792 | } |
791 | /* |
793 | /* |
792 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
794 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
793 | { |
795 | { |
794 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
796 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
795 | UART1_ConfirmFrame = 0; |
797 | UART1_ConfirmFrame = 0; |
796 | } |
798 | } |
797 | */ |
799 | */ |
798 | /* |
800 | /* |
799 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
801 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
800 | { |
802 | { |
801 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
803 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
802 | UART1_Request_ExternalControl = FALSE; |
804 | UART1_Request_ExternalControl = FALSE; |
803 | } |
805 | } |
804 | */ |
806 | */ |
805 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
807 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
806 | { |
808 | { |
807 | if(UART1_DisplayLine > 3) |
809 | if(UART1_DisplayLine > 3) |
808 | { |
810 | { |
809 | Menu_Update(UART1_DisplayKeys); |
811 | Menu_Update(UART1_DisplayKeys); |
810 | UART1_DisplayKeys = 0; |
812 | UART1_DisplayKeys = 0; |
811 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
813 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
812 | } |
814 | } |
813 | else |
815 | else |
814 | { |
816 | { |
815 | UART1_DisplayLine = 2; |
817 | UART1_DisplayLine = 2; |
816 | sprintf(text,"!!! incompatible !!!"); |
818 | sprintf(text,"!!! incompatible !!!"); |
817 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
819 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
818 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
820 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
819 | } |
821 | } |
820 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
822 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
821 | UART1_Request_Display = FALSE; |
823 | UART1_Request_Display = FALSE; |
822 | } |
824 | } |
823 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
825 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
824 | { |
826 | { |
825 | Menu_Update(0); |
827 | Menu_Update(0); |
826 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
828 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
827 | UART1_Request_Display1 = FALSE; |
829 | UART1_Request_Display1 = FALSE; |
828 | } |
830 | } |
829 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
831 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
830 | { |
832 | { |
831 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
833 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
832 | UART1_Request_VersionInfo = FALSE; |
834 | UART1_Request_VersionInfo = FALSE; |
833 | } |
835 | } |
834 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
836 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
835 | { |
837 | { |
836 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
838 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
837 | UART1_Request_SystemTime = FALSE; |
839 | UART1_Request_SystemTime = FALSE; |
838 | } |
840 | } |
839 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
841 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
840 | { |
842 | { |
841 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
843 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
842 | UART1_Request_ErrorMessage = FALSE; |
844 | UART1_Request_ErrorMessage = FALSE; |
843 | } |
845 | } |
844 | #ifdef FOLLOW_ME |
846 | #ifdef FOLLOW_ME |
845 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
847 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
846 | { |
848 | { |
847 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
849 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
848 | { |
850 | { |
849 | TransmitAlsoToFC = 1; |
851 | TransmitAlsoToFC = 1; |
850 | // update FollowMe content |
852 | // update FollowMe content |
851 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
853 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
852 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
854 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
853 | FollowMe.Position.Status = NEWDATA; |
855 | FollowMe.Position.Status = NEWDATA; |
854 | FollowMe.Position.Altitude = 1; |
856 | FollowMe.Position.Altitude = 1; |
855 | // 0 -> no Orientation |
857 | // 0 -> no Orientation |
856 | // 1-360 -> CompassCourse Setpoint |
858 | // 1-360 -> CompassCourse Setpoint |
857 | // -1 -> points to WP1 -> itself |
859 | // -1 -> points to WP1 -> itself |
858 | FollowMe.Heading = -1; |
860 | FollowMe.Heading = -1; |
859 | FollowMe.ToleranceRadius = 1; |
861 | FollowMe.ToleranceRadius = 1; |
860 | FollowMe.HoldTime = 60; |
862 | FollowMe.HoldTime = 60; |
861 | FollowMe.Event_Flag = 1; |
863 | FollowMe.Event_Flag = 1; |
862 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
864 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
863 | FollowMe.Type = POINT_TYPE_WP; |
865 | FollowMe.Type = POINT_TYPE_WP; |
864 | FollowMe.WP_EventChannelValue = 100; // set servo value |
866 | FollowMe.WP_EventChannelValue = 100; // set servo value |
865 | FollowMe.AltitudeRate = 0; // do not change height |
867 | FollowMe.AltitudeRate = 0; // do not change height |
866 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
868 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
867 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
869 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
868 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
870 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
869 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
871 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
870 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
872 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
871 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
873 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
872 | FollowMe.reserve[0] = 0; // reserve |
874 | FollowMe.reserve[0] = 0; // reserve |
873 | FollowMe.reserve[1] = 0; // reserve |
875 | FollowMe.reserve[1] = 0; // reserve |
874 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
876 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
875 | } |
877 | } |
876 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
878 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
877 | } |
879 | } |
878 | #endif |
880 | #endif |
879 | #ifdef DEBUG // only include functions if DEBUG is defined |
881 | #ifdef DEBUG // only include functions if DEBUG is defined |
880 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
882 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
881 | { |
883 | { |
882 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
884 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
883 | SendDebugOutput = 0; |
885 | SendDebugOutput = 0; |
884 | } |
886 | } |
885 | #endif |
887 | #endif |
886 | UART1_Transmit(); // output pending bytes in tx buffer |
888 | UART1_Transmit(); // output pending bytes in tx buffer |
887 | } |
889 | } |
888 | 890 | ||
889 | 891 |