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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 <stdlib.h> |
57 | #include <stdlib.h> |
58 | #include <stdarg.h> |
58 | #include <stdarg.h> |
59 | #include <string.h> |
59 | #include <string.h> |
60 | 60 | ||
61 | #include "91x_lib.h" |
61 | #include "91x_lib.h" |
62 | #include "main.h" |
62 | #include "main.h" |
63 | #include "config.h" |
63 | #include "config.h" |
64 | #include "menu.h" |
64 | #include "menu.h" |
65 | #include "GPS.h" |
65 | #include "GPS.h" |
66 | #include "i2c0.h" |
- | |
67 | #include "i2c1.h" |
66 | #include "i2c.h" |
68 | #include "uart0.h" |
67 | #include "uart0.h" |
69 | #include "uart1.h" |
68 | #include "uart1.h" |
70 | #include "uart2.h" |
69 | #include "uart2.h" |
71 | #include "timer1.h" |
70 | #include "timer1.h" |
72 | #include "timer2.h" |
71 | #include "timer2.h" |
73 | #include "analog.h" |
72 | #include "analog.h" |
74 | #include "compass.h" |
73 | #include "compass.h" |
75 | #include "waypoints.h" |
74 | #include "waypoints.h" |
76 | #include "mkprotocol.h" |
75 | #include "mkprotocol.h" |
77 | #include "params.h" |
76 | #include "params.h" |
78 | #include "fifo.h" |
77 | #include "fifo.h" |
79 | #include "debug.h" |
78 | #include "debug.h" |
80 | #include "spi_slave.h" |
79 | #include "spi_slave.h" |
81 | #include "ftphelper.h" |
80 | #include "ftphelper.h" |
82 | #include "led.h" |
81 | #include "led.h" |
83 | #include "fat16.h" |
82 | #include "fat16.h" |
84 | 83 | ||
85 | 84 | ||
86 | #define FALSE 0 |
85 | #define FALSE 0 |
87 | #define TRUE 1 |
86 | #define TRUE 1 |
88 | 87 | ||
89 | #define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
88 | #define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
90 | u32 UART1_AboTimeOut = 0; |
89 | u32 UART1_AboTimeOut = 0; |
91 | 90 | ||
92 | u8 UART1_Request_VersionInfo = FALSE; |
91 | u8 UART1_Request_VersionInfo = FALSE; |
93 | u8 UART1_Request_ExternalControl= FALSE; |
92 | u8 UART1_Request_ExternalControl= FALSE; |
94 | u8 UART1_Request_Display = FALSE; |
93 | u8 UART1_Request_Display = FALSE; |
95 | u8 UART1_Request_Display1 = FALSE; |
94 | u8 UART1_Request_Display1 = FALSE; |
96 | u8 UART1_Request_DebugData = FALSE; |
95 | u8 UART1_Request_DebugData = FALSE; |
97 | u8 UART1_Request_DebugLabel = 255; |
96 | u8 UART1_Request_DebugLabel = 255; |
98 | u8 UART1_Request_NaviData = FALSE; |
97 | u8 UART1_Request_NaviData = FALSE; |
99 | u8 UART1_Request_ErrorMessage = FALSE; |
98 | u8 UART1_Request_ErrorMessage = FALSE; |
100 | u8 UART1_Request_WritePoint = 0xFF; |
99 | u8 UART1_Request_WritePoint = 0xFF; |
101 | u8 UART1_Request_ReadPoint = 0; |
100 | u8 UART1_Request_ReadPoint = 0; |
102 | u8 UART1_Request_Data3D = FALSE; |
101 | u8 UART1_Request_Data3D = FALSE; |
103 | u8 UART1_Request_MotorData = FALSE; |
102 | u8 UART1_Request_MotorData = FALSE; |
104 | u8 UART1_Request_Echo = FALSE; |
103 | u8 UART1_Request_Echo = FALSE; |
105 | u8 UART1_Request_ParameterId = 0; |
104 | u8 UART1_Request_ParameterId = 0; |
106 | u8 UART1_Request_Parameter = FALSE; |
105 | u8 UART1_Request_Parameter = FALSE; |
107 | u8 UART1_Request_SystemTime = FALSE; |
106 | u8 UART1_Request_SystemTime = FALSE; |
108 | u8 UART1_DisplayKeys = 0; |
107 | u8 UART1_DisplayKeys = 0; |
109 | u8 UART1_DisplayLine = 0; |
108 | u8 UART1_DisplayLine = 0; |
110 | u8 UART1_ConfirmFrame = 0; |
109 | u8 UART1_ConfirmFrame = 0; |
111 | u8 UART1_Request_FTP = FALSE; |
110 | u8 UART1_Request_FTP = FALSE; |
112 | u8 LastTransmittedFCStatusFlags2 = 0; |
111 | u8 LastTransmittedFCStatusFlags2 = 0; |
113 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
112 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
114 | u8 Send_NMEA_RMC = FALSE; |
113 | u8 Send_NMEA_RMC = FALSE; |
115 | 114 | ||
116 | UART_TypeDef *DebugUART = UART1; |
115 | UART_TypeDef *DebugUART = UART1; |
117 | 116 | ||
118 | #ifdef FOLLOW_ME |
117 | #ifdef FOLLOW_ME |
119 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
118 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
120 | u32 UART1_FollowMe_Timer = 0; |
119 | u32 UART1_FollowMe_Timer = 0; |
121 | Point_t FollowMe; |
120 | Point_t FollowMe; |
122 | #endif |
121 | #endif |
123 | 122 | ||
124 | // the primary rx fifo |
123 | // the primary rx fifo |
125 | #define UART1_RX_FIFO_LEN 1024 |
124 | #define UART1_RX_FIFO_LEN 1024 |
126 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
125 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
127 | fifo_t UART1_rx_fifo; |
126 | fifo_t UART1_rx_fifo; |
128 | 127 | ||
129 | // the rx buffer |
128 | // the rx buffer |
130 | #define UART1_RX_BUFFER_LEN 1024 |
129 | #define UART1_RX_BUFFER_LEN 1024 |
131 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
130 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
132 | Buffer_t UART1_rx_buffer; |
131 | Buffer_t UART1_rx_buffer; |
133 | 132 | ||
134 | // the tx buffer |
133 | // the tx buffer |
135 | #define UART1_TX_BUFFER_LEN 1024 |
134 | #define UART1_TX_BUFFER_LEN 1024 |
136 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
135 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
137 | Buffer_t UART1_tx_buffer; |
136 | Buffer_t UART1_tx_buffer; |
138 | 137 | ||
139 | volatile u8 SerialLinkOkay = 0; |
138 | volatile u8 SerialLinkOkay = 0; |
140 | 139 | ||
141 | u8 text[200]; |
140 | u8 text[200]; |
142 | 141 | ||
143 | const u8 ANALOG_LABEL[32][16] = |
142 | const u8 ANALOG_LABEL[32][16] = |
144 | { |
143 | { |
145 | //1234567890123456 |
144 | //1234567890123456 |
146 | "AngleNick ", //0 |
145 | "AngleNick ", //0 |
147 | "AngleRoll ", |
146 | "AngleRoll ", |
148 | "AccNick ", |
147 | "AccNick ", |
149 | "AccRoll ", |
148 | "AccRoll ", |
150 | "OperatingRadius ", |
149 | "OperatingRadius ", |
151 | "FC-Flags ", //5 |
150 | "FC-Flags ", //5 |
152 | "NC-Flags ", |
151 | "NC-Flags ", |
153 | "Voltage [0,1V] ", |
152 | "Voltage [0,1V] ", |
154 | "Current [0,1A] ", |
153 | "Current [0,1A] ", |
155 | "GPS Data ", |
154 | "GPS Data ", |
156 | "CompassHeading ", //10 |
155 | "CompassHeading ", //10 |
157 | "GyroHeading ", |
156 | "GyroHeading ", |
158 | "SPI Error ", // achtung: muss auf 12 bleiben |
157 | "SPI Error ", // achtung: muss auf 12 bleiben |
159 | "SPI Okay ", |
158 | "SPI Okay ", |
160 | "I2C Error ", |
159 | "I2C Error ", |
161 | "I2C Okay ", //15 |
160 | "I2C Okay ", //15 |
162 | "16 ", |
161 | "16 ", |
163 | "17 ", |
162 | "17 ", |
164 | "18 ", |
163 | "18 ", |
165 | "19 ", // SD-Card-time |
164 | "19 ", // SD-Card-time |
166 | "EarthMagnet [%] ", //20 |
165 | "EarthMagnet [%] ", //20 |
167 | "Ground Speed ", // "Z_Speed ", |
166 | "Ground Speed ", // "Z_Speed ", |
168 | "N_Speed ", |
167 | "N_Speed ", |
169 | "E_Speed ", |
168 | "E_Speed ", |
170 | "Magnet X ", |
169 | "Magnet X ", |
171 | "Magnet Y ", //25 |
170 | "Magnet Y ", //25 |
172 | "Magnet Z ", |
171 | "Magnet Z ", |
173 | "Distance N ", |
172 | "Distance N ", |
174 | "Distance E ", |
173 | "Distance E ", |
175 | "GPS_Nick ", |
174 | "GPS_Nick ", |
176 | "GPS_Roll ", //30 |
175 | "GPS_Roll ", //30 |
177 | "Used_Sats " |
176 | "Used_Sats " |
178 | }; |
177 | }; |
179 | 178 | ||
180 | DebugOut_t DebugOut; |
179 | DebugOut_t DebugOut; |
181 | ExternControl_t ExternControl; |
180 | ExternControl_t ExternControl; |
182 | UART_VersionInfo_t UART_VersionInfo; |
181 | UART_VersionInfo_t UART_VersionInfo; |
183 | NaviData_t NaviData; |
182 | NaviData_t NaviData; |
184 | Data3D_t Data3D; |
183 | Data3D_t Data3D; |
185 | u16 Echo; // 2 bytes recieved will be sent back as echo |
184 | u16 Echo; // 2 bytes recieved will be sent back as echo |
186 | 185 | ||
187 | u32 UART1_DebugData_Timer = 0; |
186 | u32 UART1_DebugData_Timer = 0; |
188 | u32 UART1_DebugData_Interval = 0; // in ms |
187 | u32 UART1_DebugData_Interval = 0; // in ms |
189 | u32 UART1_NaviData_Timer = 0; |
188 | u32 UART1_NaviData_Timer = 0; |
190 | u32 UART1_NaviData_Interval = 0; // in ms |
189 | u32 UART1_NaviData_Interval = 0; // in ms |
191 | u32 UART1_Data3D_Timer = 0; |
190 | u32 UART1_Data3D_Timer = 0; |
192 | u32 UART1_Data3D_Interval = 0; // in ms |
191 | u32 UART1_Data3D_Interval = 0; // in ms |
193 | u32 UART1_MotorData_Timer = 0; |
192 | u32 UART1_MotorData_Timer = 0; |
194 | u32 UART1_MotorData_Interval = 0; // in ms |
193 | u32 UART1_MotorData_Interval = 0; // in ms |
195 | u32 UART1_Display_Timer = 0; |
194 | u32 UART1_Display_Timer = 0; |
196 | u32 UART1_Display_Interval = 0; // in ms |
195 | u32 UART1_Display_Interval = 0; // in ms |
197 | u32 NMEA_Timer = 0; |
196 | u32 NMEA_Timer = 0; |
198 | u32 NMEA_Interval = 500;// in ms |
197 | u32 NMEA_Interval = 500;// in ms |
199 | 198 | ||
200 | /********************************************************/ |
199 | /********************************************************/ |
201 | /* Initialization the UART1 */ |
200 | /* Initialization the UART1 */ |
202 | /********************************************************/ |
201 | /********************************************************/ |
203 | void UART1_Init (void) |
202 | void UART1_Init (void) |
204 | { |
203 | { |
205 | GPIO_InitTypeDef GPIO_InitStructure; |
204 | GPIO_InitTypeDef GPIO_InitStructure; |
206 | UART_InitTypeDef UART_InitStructure; |
205 | UART_InitTypeDef UART_InitStructure; |
207 | 206 | ||
208 | // initialize txd buffer |
207 | // initialize txd buffer |
209 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
208 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
210 | 209 | ||
211 | // initialize rxd buffer |
210 | // initialize rxd buffer |
212 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
211 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
213 | 212 | ||
214 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
213 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
215 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
214 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
216 | 215 | ||
217 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
216 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
218 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
217 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
219 | 218 | ||
220 | /*Configure UART1_Rx pin GPIO3.2*/ |
219 | /*Configure UART1_Rx pin GPIO3.2*/ |
221 | GPIO_StructInit(&GPIO_InitStructure); |
220 | GPIO_StructInit(&GPIO_InitStructure); |
222 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
221 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
223 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
222 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
224 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
223 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
225 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
224 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
226 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
225 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
227 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
226 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
228 | 227 | ||
229 | /*Configure UART1_Tx pin GPIO3.3*/ |
228 | /*Configure UART1_Tx pin GPIO3.3*/ |
230 | GPIO_StructInit(&GPIO_InitStructure); |
229 | GPIO_StructInit(&GPIO_InitStructure); |
231 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
230 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
232 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
231 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
233 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
232 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
234 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
233 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
235 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
234 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
236 | 235 | ||
237 | /* UART1 configured as follow: |
236 | /* UART1 configured as follow: |
238 | - Word Length = 8 Bits |
237 | - Word Length = 8 Bits |
239 | - One Stop Bit |
238 | - One Stop Bit |
240 | - No parity |
239 | - No parity |
241 | - BaudRate = 57600 baud |
240 | - BaudRate = 57600 baud |
242 | - Hardware flow control Disabled |
241 | - Hardware flow control Disabled |
243 | - Receive and transmit enabled |
242 | - Receive and transmit enabled |
244 | - Receive and transmit FIFOs are Disabled |
243 | - Receive and transmit FIFOs are Disabled |
245 | */ |
244 | */ |
246 | UART_StructInit(&UART_InitStructure); |
245 | UART_StructInit(&UART_InitStructure); |
247 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
246 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
248 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
247 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
249 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
248 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
250 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
249 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
251 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
250 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
252 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
251 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
253 | // AVOID_I2C_COLLISION UART_InitStructure.UART_FIFO = UART_FIFO_Disable; |
- | |
254 | // AVOID_I2C_COLLISION UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_8; // FIFO size 16 bytes, FIFO level 2 bytes |
- | |
255 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
252 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
256 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
253 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
257 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
254 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
258 | 255 | ||
259 | UART_DeInit(UART1); // reset uart 1 to default |
256 | UART_DeInit(UART1); // reset uart 1 to default |
260 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
257 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
261 | // enable uart 1 interrupts selective |
258 | // enable uart 1 interrupts selective |
262 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
259 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
263 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
260 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
264 | // configure the uart 1 interupt line |
261 | // configure the uart 1 interupt line |
265 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
262 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
266 | // enable the uart 1 IRQ |
263 | // enable the uart 1 IRQ |
267 | VIC_ITCmd(UART1_ITLine, ENABLE); |
264 | VIC_ITCmd(UART1_ITLine, ENABLE); |
268 | 265 | ||
269 | // initialize the debug timer |
266 | // initialize the debug timer |
270 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
267 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
271 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
268 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
272 | NMEA_Timer = SetDelay(14000); |
269 | NMEA_Timer = SetDelay(14000); |
273 | 270 | ||
274 | // Fill Version Info Structure |
271 | // Fill Version Info Structure |
275 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
272 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
276 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
273 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
277 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
274 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
278 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
275 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
279 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
276 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
280 | UART_VersionInfo.HWMajor = Version_HW & 0x7f; |
277 | UART_VersionInfo.HWMajor = Version_HW & 0x7F; |
281 | UART_VersionInfo.reserved2 = 0; |
278 | UART_VersionInfo.reserved2 = 0; |
282 | UART_VersionInfo.Flags = 0; |
279 | UART_VersionInfo.Flags = 0; |
283 | NaviData.Version = NAVIDATA_VERSION; |
280 | NaviData.Version = NAVIDATA_VERSION; |
284 | 281 | ||
285 | UART1_PutString("\r\n UART1 init...ok"); |
282 | UART1_PutString("\r\n UART1 init...ok"); |
286 | } |
283 | } |
287 | 284 | ||
288 | 285 | ||
289 | /****************************************************************/ |
286 | /****************************************************************/ |
290 | /* USART1 receiver ISR */ |
287 | /* USART1 receiver ISR */ |
291 | /****************************************************************/ |
288 | /****************************************************************/ |
292 | void UART1_IRQHandler(void) |
289 | void UART1_IRQHandler(void) |
293 | { |
290 | { |
294 | static u8 abortState = 0; |
291 | static u8 abortState = 0; |
295 | u8 c; |
292 | u8 c; |
296 | 293 | ||
297 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
294 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
298 | { |
295 | { |
299 | // clear the pending bits! |
296 | // clear the pending bits! |
300 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
297 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
301 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
298 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
302 | // if debug UART is not UART1 |
299 | // if debug UART is not UART1 |
303 | if (DebugUART != UART1) |
300 | if (DebugUART != UART1) |
304 | { // forward received data to the debug UART tx buffer |
301 | { // forward received data to the debug UART tx buffer |
305 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
302 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
306 | { |
303 | { |
307 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
304 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
308 | c = UART_ReceiveData(UART1); |
305 | c = UART_ReceiveData(UART1); |
309 | 306 | ||
310 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
307 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
311 | switch (abortState) |
308 | switch (abortState) |
312 | { |
309 | { |
313 | case 0: |
310 | case 0: |
314 | if (c == 27) abortState++; |
311 | if (c == 27) abortState++; |
315 | break; |
312 | break; |
316 | case 1: |
313 | case 1: |
317 | if (c == 27) abortState++; |
314 | if (c == 27) abortState++; |
318 | else abortState = 0; |
315 | else abortState = 0; |
319 | break; |
316 | break; |
320 | case 2: |
317 | case 2: |
321 | if (c == 0x55) abortState++; |
318 | if (c == 0x55) abortState++; |
322 | else abortState = 0; |
319 | else abortState = 0; |
323 | break; |
320 | break; |
324 | case 3: |
321 | case 3: |
325 | if (c == 0xAA) abortState++; |
322 | if (c == 0xAA) abortState++; |
326 | else abortState = 0; |
323 | else abortState = 0; |
327 | break; |
324 | break; |
328 | case 4: |
325 | case 4: |
329 | if (c == 0x00) |
326 | if (c == 0x00) |
330 | { |
327 | { |
331 | if(DebugUART == UART0) |
328 | if(DebugUART == UART0) |
332 | { |
329 | { |
333 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
330 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
334 | TIMER2_Init(); // enbable servo outputs |
331 | TIMER2_Init(); // enbable servo outputs |
335 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
332 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
336 | } |
333 | } |
337 | DebugUART = UART1; |
334 | DebugUART = UART1; |
338 | } |
335 | } |
339 | abortState = 0; |
336 | abortState = 0; |
340 | break; |
337 | break; |
341 | } // end switch abort state |
338 | } // end switch abort state |
342 | // if the Debug uart is not UART1, redirect input to the Debug UART |
339 | // if the Debug uart is not UART1, redirect input to the Debug UART |
343 | if (DebugUART != UART1) |
340 | if (DebugUART != UART1) |
344 | { |
341 | { |
345 | // wait for space in the tx buffer of the DebugUART |
342 | // wait for space in the tx buffer of the DebugUART |
346 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
343 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
347 | // move byte to the tx fifo of the debug uart |
344 | // move byte to the tx fifo of the debug uart |
348 | UART_SendData(DebugUART, c); |
345 | UART_SendData(DebugUART, c); |
349 | } |
346 | } |
350 | } |
347 | } |
351 | } |
348 | } |
352 | else // DebugUART == UART1 (normal operation) |
349 | else // DebugUART == UART1 (normal operation) |
353 | { |
350 | { |
354 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
351 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
355 | { // some byes in the hardware fifo |
352 | { // some byes in the hardware fifo |
356 | // get byte from hardware fifo |
353 | // get byte from hardware fifo |
357 | c = UART_ReceiveData(UART1); |
354 | c = UART_ReceiveData(UART1); |
358 | // put into the software fifo |
355 | // put into the software fifo |
359 | if(!fifo_put(&UART1_rx_fifo, c)) |
356 | if(!fifo_put(&UART1_rx_fifo, c)) |
360 | { // fifo overflow |
357 | { // fifo overflow |
361 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
358 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
362 | } |
359 | } |
363 | } // EOF while some byes in the hardware fifo |
360 | } // EOF while some byes in the hardware fifo |
364 | } // eof DebugUart = UART1 |
361 | } // eof DebugUart = UART1 |
365 | } |
362 | } |
366 | 363 | ||
367 | 364 | ||
368 | 365 | ||
369 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
366 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
370 | } |
367 | } |
371 | 368 | ||
372 | /**************************************************************/ |
369 | /**************************************************************/ |
373 | /* Process incomming data from debug uart */ |
370 | /* Process incomming data from debug uart */ |
374 | /**************************************************************/ |
371 | /**************************************************************/ |
375 | void UART1_ProcessRxData(void) |
372 | void UART1_ProcessRxData(void) |
376 | { |
373 | { |
377 | // return on forwarding uart or unlocked rx buffer |
374 | // return on forwarding uart or unlocked rx buffer |
378 | u8 c; |
375 | u8 c; |
379 | if(DebugUART != UART1) return; |
376 | if(DebugUART != UART1) return; |
380 | // if rx buffer is not locked |
377 | // if rx buffer is not locked |
381 | if(UART1_rx_buffer.Locked == FALSE) |
378 | if(UART1_rx_buffer.Locked == FALSE) |
382 | { |
379 | { |
383 | //collect data from primary rx fifo |
380 | //collect data from primary rx fifo |
384 | while(fifo_get(&UART1_rx_fifo, &c)) |
381 | while(fifo_get(&UART1_rx_fifo, &c)) |
385 | { |
382 | { |
386 | // break if complete frame is collected |
383 | // break if complete frame is collected |
387 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
384 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
388 | } |
385 | } |
389 | } |
386 | } |
390 | if(UART1_rx_buffer.Locked == FALSE) return; |
387 | if(UART1_rx_buffer.Locked == FALSE) return; |
391 | 388 | ||
392 | Point_t * pPoint = NULL; |
389 | Point_t * pPoint = NULL; |
393 | SerialMsg_t SerialMsg; |
390 | SerialMsg_t SerialMsg; |
394 | 391 | ||
395 | // analyze header first |
392 | // analyze header first |
396 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
393 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
397 | if( SerialMsg.Address == FC_ADDRESS ) |
394 | if( SerialMsg.Address == FC_ADDRESS ) |
398 | { |
395 | { |
399 | switch(SerialMsg.CmdID) |
396 | switch(SerialMsg.CmdID) |
400 | { |
397 | { |
401 | // case 'v': // version |
398 | // case 'v': // version |
402 | case 'b': // extern control |
399 | case 'b': // extern control |
403 | UART1_ExternalControlConfirmFrame = 1; |
400 | UART1_ExternalControlConfirmFrame = 1; |
404 | case 'y': // serial poti values |
401 | case 'y': // serial poti values |
405 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
402 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
406 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
403 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
407 | return; //end process rx data |
404 | return; //end process rx data |
408 | break; |
405 | break; |
409 | } |
406 | } |
410 | } |
407 | } |
411 | 408 | ||
412 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
409 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
413 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
410 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
414 | switch(SerialMsg.Address) // check for Slave Address |
411 | switch(SerialMsg.Address) // check for Slave Address |
415 | { |
412 | { |
416 | case NC_ADDRESS: // own Slave Address |
413 | case NC_ADDRESS: // own Slave Address |
417 | switch(SerialMsg.CmdID) |
414 | switch(SerialMsg.CmdID) |
418 | { |
415 | { |
419 | case 't': // request for the GPS time |
416 | case 't': // request for the GPS time |
420 | UART1_Request_SystemTime = TRUE; |
417 | UART1_Request_SystemTime = TRUE; |
421 | break; |
418 | break; |
422 | 419 | ||
423 | case 'f': // ftp command |
420 | case 'f': // ftp command |
424 | UART1_Request_FTP = SerialMsg.pData[0]; |
421 | UART1_Request_FTP = SerialMsg.pData[0]; |
425 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
422 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
426 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
423 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
427 | break; |
424 | break; |
428 | 425 | ||
429 | case 'z': // connection checker |
426 | case 'z': // connection checker |
430 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
427 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
431 | UART1_Request_Echo = TRUE; |
428 | UART1_Request_Echo = TRUE; |
432 | break; |
429 | break; |
433 | 430 | ||
434 | case 'e': // request for the text of the error status |
431 | case 'e': // request for the text of the error status |
435 | UART1_Request_ErrorMessage = TRUE; |
432 | UART1_Request_ErrorMessage = TRUE; |
436 | break; |
433 | break; |
437 | 434 | ||
438 | case 's':// new target position |
435 | case 's':// new target position |
439 | pPoint = (Point_t*)SerialMsg.pData; |
436 | pPoint = (Point_t*)SerialMsg.pData; |
440 | if(pPoint->Position.Status == NEWDATA) |
437 | if(pPoint->Position.Status == NEWDATA) |
441 | { |
438 | { |
442 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
439 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
443 | //pPoint->Index = 1; // must be one after empty list |
440 | //pPoint->Index = 1; // must be one after empty list |
444 | PointList_SetAt(pPoint); |
441 | PointList_SetAt(pPoint); |
445 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
442 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
446 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
443 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
447 | if(GPS_pWaypoint != NULL) // if new WP exist |
444 | if(GPS_pWaypoint != NULL) // if new WP exist |
448 | { // update WP hold time stamp immediately! |
445 | { // update WP hold time stamp immediately! |
449 | EnableNewWpHeading(); |
446 | EnableNewWpHeading(); |
450 | /* if(GPS_pWaypoint->Heading > 0 && GPS_pWaypoint->Heading <= 360) |
447 | /* if(GPS_pWaypoint->Heading > 0 && GPS_pWaypoint->Heading <= 360) |
451 | { |
448 | { |
452 | CAM_Orientation.Azimuth = GPS_pWaypoint->Heading; |
449 | CAM_Orientation.Azimuth = GPS_pWaypoint->Heading; |
453 | CAM_Orientation.UpdateMask |= CAM_UPDATE_AZIMUTH; |
450 | CAM_Orientation.UpdateMask |= CAM_UPDATE_AZIMUTH; |
454 | } |
451 | } |
455 | */ |
452 | */ |
456 | } |
453 | } |
457 | BeepTime = 50; |
454 | BeepTime = 50; |
458 | } |
455 | } |
459 | break; |
456 | break; |
460 | 457 | ||
461 | case 'u': // redirect debug uart |
458 | case 'u': // redirect debug uart |
462 | switch(SerialMsg.pData[0]) |
459 | switch(SerialMsg.pData[0]) |
463 | { |
460 | { |
464 | case UART_FLIGHTCTRL: |
461 | case UART_FLIGHTCTRL: |
465 | UART2_Init(); // initialize UART2 to FC pins |
462 | UART2_Init(); // initialize UART2 to FC pins |
466 | fifo_purge(&UART1_rx_fifo); |
463 | fifo_purge(&UART1_rx_fifo); |
467 | TIMER2_Deinit(); // reduce irq load |
464 | TIMER2_Deinit(); // reduce irq load |
468 | DebugUART = UART2; |
465 | DebugUART = UART2; |
469 | break; |
466 | break; |
470 | case UART_MK3MAG: |
467 | case UART_MK3MAG: |
471 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
468 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
472 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
469 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
473 | GPSData.Status = INVALID; |
470 | GPSData.Status = INVALID; |
474 | fifo_purge(&UART1_rx_fifo); |
471 | fifo_purge(&UART1_rx_fifo); |
475 | DebugUART = UART0; |
472 | DebugUART = UART0; |
476 | break; |
473 | break; |
477 | case UART_MKGPS: |
474 | case UART_MKGPS: |
478 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
475 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
479 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
476 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
480 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
477 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
481 | GPSData.Status = INVALID; |
478 | GPSData.Status = INVALID; |
482 | fifo_purge(&UART1_rx_fifo); |
479 | fifo_purge(&UART1_rx_fifo); |
483 | DebugUART = UART0; |
480 | DebugUART = UART0; |
484 | break; |
481 | break; |
485 | default: |
482 | default: |
486 | break; |
483 | break; |
487 | } |
484 | } |
488 | break; |
485 | break; |
489 | 486 | ||
490 | case 'w':// Set point in list at index |
487 | case 'w':// Set point in list at index |
491 | { |
488 | { |
492 | pPoint = (Point_t*)SerialMsg.pData; |
489 | pPoint = (Point_t*)SerialMsg.pData; |
493 | 490 | ||
494 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
491 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
495 | { |
492 | { |
496 | PointList_Clear(); |
493 | PointList_Clear(); |
497 | GPS_pWaypoint = PointList_WPBegin(); |
494 | GPS_pWaypoint = PointList_WPBegin(); |
498 | UART1_Request_WritePoint = 0; // return new point count |
495 | UART1_Request_WritePoint = 0; // return new point count |
499 | } |
496 | } |
500 | else |
497 | else |
501 | { // update WP in list at index |
498 | { // update WP in list at index |
502 | if(pPoint->Index > MaxNumberOfWaypoints) |
499 | if(pPoint->Index > MaxNumberOfWaypoints) |
503 | { |
500 | { |
504 | UART1_Request_WritePoint = 254; |
501 | UART1_Request_WritePoint = 254; |
505 | pPoint->Index = MaxNumberOfWaypoints; |
502 | pPoint->Index = MaxNumberOfWaypoints; |
506 | } |
503 | } |
507 | else |
504 | else |
508 | UART1_Request_WritePoint = PointList_SetAt(pPoint); |
505 | UART1_Request_WritePoint = PointList_SetAt(pPoint); |
509 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
506 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
510 | if(UART1_Request_WritePoint == pPoint->Index) |
507 | if(UART1_Request_WritePoint == pPoint->Index) |
511 | { |
508 | { |
512 | BeepTime = 500; |
509 | BeepTime = 500; |
513 | } |
510 | } |
514 | } |
511 | } |
515 | } |
512 | } |
516 | break; |
513 | break; |
517 | 514 | ||
518 | case 'x':// Read Waypoint from List |
515 | case 'x':// Read Waypoint from List |
519 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
516 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
520 | break; |
517 | break; |
521 | 518 | ||
522 | case 'j':// Set/Get NC-Parameter |
519 | case 'j':// Set/Get NC-Parameter |
523 | switch(SerialMsg.pData[0]) |
520 | switch(SerialMsg.pData[0]) |
524 | { |
521 | { |
525 | case 0: // get |
522 | case 0: // get |
526 | break; |
523 | break; |
527 | 524 | ||
528 | case 1: // set |
525 | case 1: // set |
529 | { |
526 | { |
530 | s16 value; |
527 | s16 value; |
531 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
528 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
532 | NCParams_SetValue(SerialMsg.pData[1], &value); |
529 | NCParams_SetValue(SerialMsg.pData[1], &value); |
533 | } |
530 | } |
534 | break; |
531 | break; |
535 | 532 | ||
536 | default: |
533 | default: |
537 | break; |
534 | break; |
538 | } |
535 | } |
539 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
536 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
540 | UART1_Request_Parameter = TRUE; |
537 | UART1_Request_Parameter = TRUE; |
541 | break; |
538 | break; |
542 | default: |
539 | default: |
543 | // unsupported command recieved |
540 | // unsupported command recieved |
544 | break; |
541 | break; |
545 | } // case NC_ADDRESS |
542 | } // case NC_ADDRESS |
546 | // "break;" is missing here to fall thru to the common commands |
543 | // "break;" is missing here to fall thru to the common commands |
547 | 544 | ||
548 | default: // and any other Slave Address |
545 | default: // and any other Slave Address |
549 | 546 | ||
550 | switch(SerialMsg.CmdID) // check CmdID |
547 | switch(SerialMsg.CmdID) // check CmdID |
551 | { |
548 | { |
552 | case 'a':// request for the labels of the analog debug outputs |
549 | case 'a':// request for the labels of the analog debug outputs |
553 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
550 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
554 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
551 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
555 | break; |
552 | break; |
556 | /* |
553 | /* |
557 | case 'b': // submit extern control |
554 | case 'b': // submit extern control |
558 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
555 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
559 | UART1_ConfirmFrame = ExternControl.Frame; |
556 | UART1_ConfirmFrame = ExternControl.Frame; |
560 | break; |
557 | break; |
561 | */ |
558 | */ |
562 | case 'd': // request for debug data; |
559 | case 'd': // request for debug data; |
563 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
560 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
564 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
561 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
565 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
562 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
566 | break; |
563 | break; |
567 | 564 | ||
568 | case 'c': // request for 3D data; |
565 | case 'c': // request for 3D data; |
569 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
566 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
570 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
567 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
571 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
568 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
572 | break; |
569 | break; |
573 | 570 | ||
574 | case 'k': // request for Motor data; |
571 | case 'k': // request for Motor data; |
575 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
572 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
576 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
573 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
577 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
574 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
578 | break; |
575 | break; |
579 | 576 | ||
580 | case 'h':// reqest for display line |
577 | case 'h':// reqest for display line |
581 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
578 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
582 | { |
579 | { |
583 | UART1_DisplayLine = 2; |
580 | UART1_DisplayLine = 2; |
584 | UART1_Display_Interval = 0; |
581 | UART1_Display_Interval = 0; |
585 | } |
582 | } |
586 | else |
583 | else |
587 | { |
584 | { |
588 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
585 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
589 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
586 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
590 | UART1_DisplayLine = 4; |
587 | UART1_DisplayLine = 4; |
591 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
588 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
592 | } |
589 | } |
593 | UART1_Request_Display = TRUE; |
590 | UART1_Request_Display = TRUE; |
594 | break; |
591 | break; |
595 | 592 | ||
596 | case 'l':// reqest for display columns |
593 | case 'l':// reqest for display columns |
597 | MenuItem = SerialMsg.pData[0]; |
594 | MenuItem = SerialMsg.pData[0]; |
598 | UART1_Request_Display1 = TRUE; |
595 | UART1_Request_Display1 = TRUE; |
599 | break; |
596 | break; |
600 | 597 | ||
601 | case 'o': // request for navigation information |
598 | case 'o': // request for navigation information |
602 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
599 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
603 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
600 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
604 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
601 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
605 | break; |
602 | break; |
606 | 603 | ||
607 | case 'v': // request for version info |
604 | case 'v': // request for version info |
608 | UART1_Request_VersionInfo = TRUE; |
605 | UART1_Request_VersionInfo = TRUE; |
609 | break; |
606 | break; |
610 | default: |
607 | default: |
611 | // unsupported command recieved |
608 | // unsupported command recieved |
612 | break; |
609 | break; |
613 | } |
610 | } |
614 | break; // default: |
611 | break; // default: |
615 | } |
612 | } |
616 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
613 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
617 | } |
614 | } |
618 | 615 | ||
619 | 616 | ||
620 | /*****************************************************/ |
617 | /*****************************************************/ |
621 | /* Send a character */ |
618 | /* Send a character */ |
622 | /*****************************************************/ |
619 | /*****************************************************/ |
623 | s16 UART1_Putchar(char c) |
620 | s16 UART1_Putchar(char c) |
624 | { |
621 | { |
625 | u32 timeout = 10000; |
622 | u32 timeout = 10000; |
626 | if (c == '\n') UART1_Putchar('\r'); |
623 | if (c == '\n') UART1_Putchar('\r'); |
627 | // wait until txd fifo is not full |
624 | // wait until txd fifo is not full |
628 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
625 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
629 | // transmit byte |
626 | // transmit byte |
630 | UART_SendData(UART1, c); |
627 | UART_SendData(UART1, c); |
631 | #ifdef FOLLOW_ME |
628 | #ifdef FOLLOW_ME |
632 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
629 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
633 | #endif |
630 | #endif |
634 | return (0); |
631 | return (0); |
635 | } |
632 | } |
636 | 633 | ||
637 | /*****************************************************/ |
634 | /*****************************************************/ |
638 | /* Send a string to the debug uart */ |
635 | /* Send a string to the debug uart */ |
639 | /*****************************************************/ |
636 | /*****************************************************/ |
640 | void UART1_PutString(u8 *s) |
637 | void UART1_PutString(u8 *s) |
641 | { |
638 | { |
642 | if(s == NULL) return; |
639 | if(s == NULL) return; |
643 | while (*s != '\0' && DebugUART == UART1) |
640 | while (*s != '\0' && DebugUART == UART1) |
644 | { |
641 | { |
645 | UART1_Putchar(*s); |
642 | UART1_Putchar(*s); |
646 | s ++; |
643 | s ++; |
647 | } |
644 | } |
648 | } |
645 | } |
649 | 646 | ||
650 | 647 | ||
651 | /**************************************************************/ |
648 | /**************************************************************/ |
652 | /* Transmit tx buffer via debug uart */ |
649 | /* Transmit tx buffer via debug uart */ |
653 | /**************************************************************/ |
650 | /**************************************************************/ |
654 | void UART1_Transmit(void) |
651 | void UART1_Transmit(void) |
655 | { |
652 | { |
656 | u8 tmp_tx; |
653 | u8 tmp_tx; |
657 | if(DebugUART != UART1) return; |
654 | if(DebugUART != UART1) return; |
658 | // AVOID_I2C_COLLISION if(I2C0_State != I2C_STATE_IDLE) return; |
- | |
659 | // if something has to be send and the txd fifo is not full |
655 | // if something has to be send and the txd fifo is not full |
660 | if(UART1_tx_buffer.Locked == TRUE) |
656 | if(UART1_tx_buffer.Locked == TRUE) |
661 | { |
657 | { |
662 | // while there is some space in the tx fifo |
658 | // while there is some space in the tx fifo |
663 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
659 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
664 | { |
660 | { |
665 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
661 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
666 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
662 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
667 | #ifdef FOLLOW_ME |
663 | #ifdef FOLLOW_ME |
668 | if(TransmitAlsoToFC) |
664 | if(TransmitAlsoToFC) |
669 | { |
665 | { |
670 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
666 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
671 | } |
667 | } |
672 | #endif |
668 | #endif |
673 | // if terminating character or end of txd buffer reached |
669 | // if terminating character or end of txd buffer reached |
674 | if((tmp_tx == '\0') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
670 | if((tmp_tx == '\0') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
675 | { |
671 | { |
676 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
672 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
677 | #ifdef FOLLOW_ME |
673 | #ifdef FOLLOW_ME |
678 | TransmitAlsoToFC = 0; |
674 | TransmitAlsoToFC = 0; |
679 | #endif |
675 | #endif |
680 | break; // end while loop |
676 | break; // end while loop |
681 | } |
677 | } |
682 | } |
678 | } |
683 | } |
679 | } |
684 | } |
680 | } |
685 | 681 | ||
686 | //$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
682 | //$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
687 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
683 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
688 | //$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C |
684 | //$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C |
689 | //http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm |
685 | //http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm |
690 | void CreateNmeaGGA(void) |
686 | void CreateNmeaGGA(void) |
691 | { |
687 | { |
692 | unsigned char array[200], i = 0, crc = 0, x; |
688 | u8 array[200], i = 0, crc = 0, x; |
693 | long tmp1, tmp2; |
689 | s32 tmp1, tmp2; |
- | 690 | ||
694 | i += sprintf(array, "$GPGGA,"); |
691 | i += sprintf(array, "$GPGGA,"); |
695 | // +++++++++++++++++++++++++++++++++++++++++++ |
692 | // +++++++++++++++++++++++++++++++++++++++++++ |
696 | if(SystemTime.Valid) |
693 | if(SystemTime.Valid) |
697 | { |
694 | { |
698 | i += sprintf(&array[i], "%02d%02d%02d.%02d,",SystemTime.Hour,SystemTime.Min,SystemTime.Sec,SystemTime.mSec/10); |
695 | i += sprintf(&array[i], "%02d%02d%02d.%02d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec/10); |
699 | } |
696 | } |
700 | else |
697 | else |
701 | { |
698 | { |
702 | i += sprintf(&array[i], ","); |
699 | i += sprintf(&array[i], ","); |
703 | } |
700 | } |
704 | // +++++++++++++++++++++++++++++++++++++++++++ |
701 | // +++++++++++++++++++++++++++++++++++++++++++ |
705 | if(GPSData.Flags & FLAG_GPSFIXOK) |
702 | if(GPSData.Flags & FLAG_GPSFIXOK) |
706 | { |
703 | { |
707 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
704 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
708 | i += sprintf(&array[i],"%02d",(int)tmp1); |
705 | i += sprintf(&array[i],"%02d",(s16)tmp1); |
709 | 706 | ||
710 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
707 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
711 | tmp1 *= 6; // in Minuten |
708 | tmp1 *= 6; // in Minuten |
712 | tmp2 = tmp1 / 1000000L; |
709 | tmp2 = tmp1 / 1000000L; |
713 | i += sprintf(&array[i],"%02d",(int)tmp2); |
710 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
714 | tmp2 = tmp1 % 1000000L; |
711 | tmp2 = tmp1 % 1000000L; |
715 | tmp2 /= 10; // eine Stelle zu viel |
712 | tmp2 /= 10; // eine Stelle zu viel |
716 | i += sprintf(&array[i],".%05d,",(int)tmp2); |
713 | i += sprintf(&array[i],".%05d,", (s16)tmp2); |
717 | 714 | ||
718 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
715 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
719 | else i += sprintf(&array[i],"S,"); |
716 | else i += sprintf(&array[i],"S,"); |
720 | // +++++++++++++++++++++++++++++++++++++++++++ |
717 | // +++++++++++++++++++++++++++++++++++++++++++ |
721 | 718 | ||
722 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
719 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
723 | i += sprintf(&array[i],"%03d",(int)tmp1); |
720 | i += sprintf(&array[i],"%03d", (s16)tmp1); |
724 | 721 | ||
725 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
722 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
726 | tmp1 *= 6; // in Minuten |
723 | tmp1 *= 6; // in Minuten |
727 | tmp2 = tmp1 / 1000000L; |
724 | tmp2 = tmp1 / 1000000L; |
728 | i += sprintf(&array[i],"%02d",(int)tmp2); |
725 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
729 | tmp2 = tmp1 % 1000000L; |
726 | tmp2 = tmp1 % 1000000L; |
730 | tmp2 /= 10; // eine Stelle zu viel |
727 | tmp2 /= 10; // eine Stelle zu viel |
731 | i += sprintf(&array[i],".%05d,",(int)tmp2); |
728 | i += sprintf(&array[i],".%05d,", (s16)tmp2); |
732 | 729 | ||
733 | 730 | ||
734 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
731 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
735 | else i += sprintf(&array[i],"W,"); |
732 | else i += sprintf(&array[i],"W,"); |
736 | i += sprintf(&array[i],"%d,",GPSData.SatFix); |
733 | i += sprintf(&array[i],"%d,",GPSData.SatFix); |
737 | i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
734 | i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
738 | i += sprintf(&array[i],"%d.%d,",GPSData.Position_Accuracy/100,abs(GPSData.Position_Accuracy%100)); |
735 | i += sprintf(&array[i],"%d.%d,",(s16)(GPSData.Position_Accuracy/100),abs(GPSData.Position_Accuracy%100)); |
739 | // i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
736 | // i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
740 | tmp1 = NaviData.Altimeter / 2; // in dm |
737 | tmp1 = NaviData.Altimeter / 2; // in dm |
741 | i += sprintf(&array[i],"%d.%d,M,",tmp1 / 10,abs(tmp1 % 10)); |
738 | i += sprintf(&array[i],"%d.%d,M,",(s16)tmp1 / 10,abs((s16)tmp1 % 10)); |
742 | i += sprintf(&array[i],",,,*"); |
739 | i += sprintf(&array[i],",,,*"); |
743 | } |
740 | } |
744 | else |
741 | else |
745 | { |
742 | { |
746 | i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats); |
743 | i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats); |
747 | } |
744 | } |
748 | for(x=1; x<i-1; x++) |
745 | for(x = 1; x < i-1; x++) |
749 | { |
746 | { |
750 | crc ^= array[x]; |
747 | crc ^= array[x]; |
751 | } |
748 | } |
752 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
749 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
753 | AddSerialData(&UART1_tx_buffer,array,i); |
750 | AddSerialData(&UART1_tx_buffer,array,i); |
754 | 751 | ||
755 | // +++++++++++++++++++++++++++++++++++++++++++ |
752 | // +++++++++++++++++++++++++++++++++++++++++++ |
756 | } |
753 | } |
757 | 754 | ||
758 | //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
755 | //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
759 | //$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP |
756 | //$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP |
760 | 757 | ||
761 | void CreateNmeaRMC(void) |
758 | void CreateNmeaRMC(void) |
762 | { |
759 | { |
763 | unsigned char array[200], i = 0, crc = 0, x; |
760 | u8 array[200], i = 0, crc = 0, x; |
764 | int tmp_int; |
761 | s16 tmp_int; |
765 | long tmp1, tmp2; |
762 | s32 tmp1, tmp2; |
766 | // +++++++++++++++++++++++++++++++++++++++++++ |
763 | // +++++++++++++++++++++++++++++++++++++++++++ |
767 | i += sprintf(array, "$GPRMC,"); |
764 | i += sprintf(array, "$GPRMC,"); |
768 | // +++++++++++++++++++++++++++++++++++++++++++ |
765 | // +++++++++++++++++++++++++++++++++++++++++++ |
769 | if(SystemTime.Valid) |
766 | if(SystemTime.Valid) |
770 | { |
767 | { |
771 | i += sprintf(&array[i], "%02d%02d%02d.%03d,",SystemTime.Hour,SystemTime.Min,SystemTime.Sec,SystemTime.mSec); |
768 | i += sprintf(&array[i], "%02d%02d%02d.%03d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
772 | } |
769 | } |
773 | else |
770 | else |
774 | { |
771 | { |
775 | i += sprintf(&array[i], ","); |
772 | i += sprintf(&array[i], ","); |
776 | } |
773 | } |
777 | if(GPSData.Flags & FLAG_GPSFIXOK) |
774 | if(GPSData.Flags & FLAG_GPSFIXOK) |
778 | { |
775 | { |
779 | // +++++++++++++++++++++++++++++++++++++++++++ |
776 | // +++++++++++++++++++++++++++++++++++++++++++ |
780 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
777 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
781 | i += sprintf(&array[i],"A,%02d",(int)tmp1); // Status: A = Okay V = Warnung |
778 | i += sprintf(&array[i],"A,%02d", (s16)tmp1); // Status: A = Okay V = Warnung |
782 | 779 | ||
783 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
780 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
784 | tmp1 *= 6; // in Minuten |
781 | tmp1 *= 6; // in Minuten |
785 | tmp2 = tmp1 / 1000000L; |
782 | tmp2 = tmp1 / 1000000L; |
786 | i += sprintf(&array[i],"%02d",(int)tmp2); |
783 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
787 | tmp2 = tmp1 % 1000000L; |
784 | tmp2 = tmp1 % 1000000L; |
788 | tmp2 /= 10; // eine Stelle zu viel |
785 | tmp2 /= 10; // eine Stelle zu viel |
789 | i += sprintf(&array[i],".%05d,",(int)tmp2); |
786 | i += sprintf(&array[i],".%05d,", (s16)tmp2); |
790 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
787 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
791 | else i += sprintf(&array[i],"S,"); |
788 | else i += sprintf(&array[i],"S,"); |
792 | // +++++++++++++++++++++++++++++++++++++++++++ |
789 | // +++++++++++++++++++++++++++++++++++++++++++ |
793 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
790 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
794 | i += sprintf(&array[i],"%03d",(int)tmp1); |
791 | i += sprintf(&array[i],"%03d", (s16)tmp1); |
795 | 792 | ||
796 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
793 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
797 | tmp1 *= 6; // in Minuten |
794 | tmp1 *= 6; // in Minuten |
798 | tmp2 = tmp1 / 1000000L; |
795 | tmp2 = tmp1 / 1000000L; |
799 | i += sprintf(&array[i],"%02d",(int)tmp2); |
796 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
800 | tmp2 = tmp1 % 1000000L; |
797 | tmp2 = tmp1 % 1000000L; |
801 | tmp2 /= 10; // eine Stelle zu viel |
798 | tmp2 /= 10; // eine Stelle zu viel |
802 | i += sprintf(&array[i],".%05d,",(int)tmp2); |
799 | i += sprintf(&array[i],".%05d,", (s16)tmp2); |
803 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
800 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
804 | else i += sprintf(&array[i],"W,"); |
801 | else i += sprintf(&array[i],"W,"); |
805 | // +++++++++++++++++++++++++++++++++++++++++++ |
802 | // +++++++++++++++++++++++++++++++++++++++++++ |
806 | tmp_int = GPSData.Speed_Ground; // in cm/sek |
803 | tmp_int = GPSData.Speed_Ground; // in cm/sek |
807 | tmp_int *= 90; |
804 | tmp_int *= 90; |
808 | tmp_int /= 463; |
805 | tmp_int /= 463; |
809 | i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten |
806 | i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten |
810 | // +++++++++++++++++++++++++++++++++++++++++++ |
807 | // +++++++++++++++++++++++++++++++++++++++++++ |
811 | i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10); |
808 | i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10); |
812 | // +++++++++++++++++++++++++++++++++++++++++++ |
809 | // +++++++++++++++++++++++++++++++++++++++++++ |
813 | if(SystemTime.Valid) |
810 | if(SystemTime.Valid) |
814 | { |
811 | { |
815 | i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year); |
812 | i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year); |
816 | } |
813 | } |
817 | else |
814 | else |
818 | { |
815 | { |
819 | i += sprintf(&array[i], ","); |
816 | i += sprintf(&array[i], ","); |
820 | } |
817 | } |
821 | // +++++++++++++++++++++++++++++++++++++++++++ |
818 | // +++++++++++++++++++++++++++++++++++++++++++ |
822 | i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
819 | i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
823 | if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,"); |
820 | if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,"); |
824 | // +++++++++++++++++++++++++++++++++++++++++++ |
821 | // +++++++++++++++++++++++++++++++++++++++++++ |
825 | if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D,"); |
822 | if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D,"); |
826 | else i += sprintf(&array[i], "A,"); |
823 | else i += sprintf(&array[i], "A,"); |
827 | } |
824 | } |
828 | else // kein Satfix |
825 | else // kein Satfix |
829 | { |
826 | { |
830 | i += sprintf(&array[i], "V,,,,,,,,,,N*"); |
827 | i += sprintf(&array[i], "V,,,,,,,,,,N*"); |
831 | } |
828 | } |
832 | // +++++++++++++++++++++++++++++++++++++++++++ |
829 | // +++++++++++++++++++++++++++++++++++++++++++ |
833 | // CRC |
830 | // CRC |
834 | // +++++++++++++++++++++++++++++++++++++++++++ |
831 | // +++++++++++++++++++++++++++++++++++++++++++ |
835 | for(x=1; x<i-1; x++) |
832 | for(x=1; x<i-1; x++) |
836 | { |
833 | { |
837 | crc ^= array[x]; |
834 | crc ^= array[x]; |
838 | } |
835 | } |
839 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
836 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
840 | // +++++++++++++++++++++++++++++++++++++++++++ |
837 | // +++++++++++++++++++++++++++++++++++++++++++ |
841 | AddSerialData(&UART1_tx_buffer,array,i); |
838 | AddSerialData(&UART1_tx_buffer,array,i); |
842 | // +++++++++++++++++++++++++++++++++++++++++++ |
839 | // +++++++++++++++++++++++++++++++++++++++++++ |
843 | /* |
840 | /* |
844 | |
841 | |
845 | |
842 | |
846 | 843 | ||
847 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
844 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
848 | GPSData.NumOfSats = UbxSol.numSV; |
845 | GPSData.NumOfSats = UbxSol.numSV; |
849 | GPSData.SatFix = UbxSol.GPSfix; |
846 | GPSData.SatFix = UbxSol.GPSfix; |
850 | GPSData.Position_Accuracy = UbxSol.PAcc; |
847 | GPSData.Position_Accuracy = UbxSol.PAcc; |
851 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
848 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
852 | SetGPSTime(&SystemTime); // update system time |
849 | SetGPSTime(&SystemTime); // update system time |
853 | // NAV POSLLH |
850 | // NAV POSLLH |
854 | GPSData.Position.Status = INVALID; |
851 | GPSData.Position.Status = INVALID; |
855 | GPSData.Position.Longitude = UbxPosLlh.LON; |
852 | GPSData.Position.Longitude = UbxPosLlh.LON; |
856 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
853 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
857 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
854 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
858 | GPSData.Position.Status = NEWDATA; |
855 | GPSData.Position.Status = NEWDATA; |
859 | // NAV VELNED |
856 | // NAV VELNED |
860 | GPSData.Speed_East = UbxVelNed.VEL_E; |
857 | GPSData.Speed_East = UbxVelNed.VEL_E; |
861 | GPSData.Speed_North = UbxVelNed.VEL_N; |
858 | GPSData.Speed_North = UbxVelNed.VEL_N; |
862 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
859 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
863 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
860 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
864 | GPSData.Heading = UbxVelNed.Heading; |
861 | GPSData.Heading = UbxVelNed.Heading; |
865 | SystemTime.Year = 0; |
862 | SystemTime.Year = 0; |
866 | SystemTime.Month = 0; |
863 | SystemTime.Month = 0; |
867 | SystemTime.Day = 0; |
864 | SystemTime.Day = 0; |
868 | SystemTime.Hour = 0; |
865 | SystemTime.Hour = 0; |
869 | SystemTime.Min = 0; |
866 | SystemTime.Min = 0; |
870 | SystemTime.Sec = 0; |
867 | SystemTime.Sec = 0; |
871 | SystemTime.mSec = 0; |
868 | SystemTime.mSec = 0; |
872 | SystemTime.Valid = 0; |
869 | SystemTime.Valid = 0; |
873 | |
870 | |
874 | FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2; |
871 | FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2; |
875 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
872 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
876 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
873 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
877 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
874 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
878 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
875 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
879 | 876 | ||
880 | 877 | ||
881 | 878 | ||
882 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
879 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
883 | i1 *= 100; |
880 | i1 *= 100; |
884 | i1 += i2 / 100000; |
881 | i1 += i2 / 100000; |
885 | i2 = i2 % 100000; |
882 | i2 = i2 % 100000; |
886 | i2 /= 10; |
883 | i2 /= 10; |
887 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
884 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
888 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
885 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
889 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
886 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
890 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
887 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
891 | break; |
888 | break; |
892 | case 1: |
889 | case 1: |
893 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
890 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
894 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
891 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
895 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
892 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
896 | //----------------------------- |
893 | //----------------------------- |
897 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
894 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
898 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
895 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
899 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
896 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
900 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
897 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
901 | 898 | ||
902 | */ |
899 | */ |
903 | } |
900 | } |
904 | 901 | ||
905 | 902 | ||
906 | /**************************************************************/ |
903 | /**************************************************************/ |
907 | /* Send the answers to incomming commands at the debug uart */ |
904 | /* Send the answers to incomming commands at the debug uart */ |
908 | /**************************************************************/ |
905 | /**************************************************************/ |
909 | void UART1_TransmitTxData(void) |
906 | void UART1_TransmitTxData(void) |
910 | { |
907 | { |
911 | static u8 motorindex1 = 255, motorindex2 = 0; |
908 | static u8 motorindex1 = 255, motorindex2 = 0; |
912 | if(DebugUART != UART1) return; |
909 | if(DebugUART != UART1) return; |
913 | 910 | ||
914 | if(CheckDelay(UART1_AboTimeOut)) |
911 | if(CheckDelay(UART1_AboTimeOut)) |
915 | { |
912 | { |
916 | UART1_DebugData_Interval = 0; |
913 | UART1_DebugData_Interval = 0; |
917 | UART1_NaviData_Interval = 0; |
914 | UART1_NaviData_Interval = 0; |
918 | UART1_Data3D_Interval = 0; |
915 | UART1_Data3D_Interval = 0; |
919 | UART1_Display_Interval = 0; |
916 | UART1_Display_Interval = 0; |
920 | UART1_MotorData_Interval = 0; |
917 | UART1_MotorData_Interval = 0; |
921 | } |
918 | } |
922 | 919 | ||
923 | UART1_Transmit(); // output pending bytes in tx buffer |
920 | UART1_Transmit(); // output pending bytes in tx buffer |
924 | if((UART1_tx_buffer.Locked == TRUE)) return; |
921 | if((UART1_tx_buffer.Locked == TRUE)) return; |
925 | 922 | ||
926 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
923 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
927 | { |
924 | { |
928 | s16 ParamValue; |
925 | s16 ParamValue; |
929 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
926 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
930 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
927 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
931 | UART1_Request_Parameter = FALSE; |
928 | UART1_Request_Parameter = FALSE; |
932 | } |
929 | } |
933 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
930 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
934 | { |
931 | { |
935 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
932 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
936 | Echo = 0; // reset echo value |
933 | Echo = 0; // reset echo value |
937 | UART1_Request_Echo = FALSE; |
934 | UART1_Request_Echo = FALSE; |
938 | } |
935 | } |
939 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
936 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
940 | { |
937 | { |
941 | u8 errorcode = FTP_ERROR_NONE; |
938 | u8 errorcode = FTP_ERROR_NONE; |
942 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
939 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
943 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
940 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
944 | 941 | ||
945 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
942 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
946 | else |
943 | else |
947 | { |
944 | { |
948 | u8 cmd = FTP_CMD_ERROR; |
945 | u8 cmd = FTP_CMD_ERROR; |
949 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
946 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
950 | } |
947 | } |
951 | 948 | ||
952 | UART1_Request_FTP = FALSE; |
949 | UART1_Request_FTP = FALSE; |
953 | } |
950 | } |
954 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
951 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
955 | { |
952 | { |
956 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
953 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
957 | UART1_Request_WritePoint = 0xFF; |
954 | UART1_Request_WritePoint = 0xFF; |
958 | } |
955 | } |
959 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
956 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
960 | { |
957 | { |
961 | u8 PointCount = PointList_GetCount(); |
958 | u8 PointCount = PointList_GetCount(); |
962 | if (UART1_Request_ReadPoint <= PointCount) |
959 | if (UART1_Request_ReadPoint <= PointCount) |
963 | { |
960 | { |
964 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
961 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
965 | } |
962 | } |
966 | else |
963 | else |
967 | { |
964 | { |
968 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
965 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
969 | } |
966 | } |
970 | UART1_Request_ReadPoint = 0; |
967 | UART1_Request_ReadPoint = 0; |
971 | } |
968 | } |
972 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
969 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
973 | { |
970 | { |
974 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
971 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
975 | UART1_Request_DebugLabel = 0xFF; |
972 | UART1_Request_DebugLabel = 0xFF; |
976 | } |
973 | } |
977 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
974 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
978 | { |
975 | { |
979 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
976 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
980 | UART1_ExternalControlConfirmFrame = 0; |
977 | UART1_ExternalControlConfirmFrame = 0; |
981 | } |
978 | } |
982 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
979 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
983 | { |
980 | { |
984 | NaviData.Errorcode = ErrorCode; |
981 | NaviData.Errorcode = ErrorCode; |
985 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
982 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
986 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
983 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
987 | UART1_Request_NaviData = FALSE; |
984 | UART1_Request_NaviData = FALSE; |
988 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
985 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
989 | } |
986 | } |
990 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
987 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
991 | { |
988 | { |
992 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
989 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
993 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
990 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
994 | UART1_Request_DebugData = FALSE; |
991 | UART1_Request_DebugData = FALSE; |
995 | } |
992 | } |
996 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
993 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
997 | { |
994 | { |
998 | Data3D.StickNick = FC.StickNick; |
995 | Data3D.StickNick = FC.StickNick; |
999 | Data3D.StickRoll = FC.StickRoll; |
996 | Data3D.StickRoll = FC.StickRoll; |
1000 | Data3D.StickYaw = FC.StickYaw; |
997 | Data3D.StickYaw = FC.StickYaw; |
1001 | Data3D.StickGas = FC.StickGas; |
998 | Data3D.StickGas = FC.StickGas; |
1002 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
999 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
1003 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
1000 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
1004 | UART1_Request_Data3D = FALSE; |
1001 | UART1_Request_Data3D = FALSE; |
1005 | } |
1002 | } |
1006 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
1003 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
1007 | { |
1004 | { |
1008 | do |
1005 | do |
1009 | { |
1006 | { |
1010 | motorindex1++; |
1007 | motorindex1++; |
1011 | motorindex1%=12; |
1008 | motorindex1%=12; |
1012 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
1009 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
1013 | if(motorindex1 == motorindex2) break; |
1010 | if(motorindex1 == motorindex2) break; |
1014 | } |
1011 | } |
1015 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
1012 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
1016 | 1013 | ||
1017 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
1014 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
1018 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
1015 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
1019 | UART1_Request_MotorData = FALSE; |
1016 | UART1_Request_MotorData = FALSE; |
1020 | } |
1017 | } |
1021 | else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE)) |
1018 | else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE)) |
1022 | { |
1019 | { |
1023 | CreateNmeaGGA(); |
1020 | CreateNmeaGGA(); |
1024 | Send_NMEA_RMC = TRUE; // das muss noch da hinter |
1021 | Send_NMEA_RMC = TRUE; // das muss noch da hinter |
1025 | NMEA_Timer = SetDelay(NMEA_Interval); |
1022 | NMEA_Timer = SetDelay(NMEA_Interval); |
1026 | } |
1023 | } |
1027 | else if(Send_NMEA_RMC == TRUE && (UART1_tx_buffer.Locked == FALSE)) |
1024 | else if(Send_NMEA_RMC == TRUE && (UART1_tx_buffer.Locked == FALSE)) |
1028 | { |
1025 | { |
1029 | CreateNmeaRMC(); |
1026 | CreateNmeaRMC(); |
1030 | Send_NMEA_RMC = FALSE; |
1027 | Send_NMEA_RMC = FALSE; |
1031 | } |
1028 | } |
1032 | 1029 | ||
1033 | /* |
1030 | /* |
1034 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1031 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1035 | { |
1032 | { |
1036 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
1033 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
1037 | UART1_ConfirmFrame = 0; |
1034 | UART1_ConfirmFrame = 0; |
1038 | } |
1035 | } |
1039 | */ |
1036 | */ |
1040 | /* |
1037 | /* |
1041 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
1038 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
1042 | { |
1039 | { |
1043 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
1040 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
1044 | UART1_Request_ExternalControl = FALSE; |
1041 | UART1_Request_ExternalControl = FALSE; |
1045 | } |
1042 | } |
1046 | */ |
1043 | */ |
1047 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
1044 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
1048 | { |
1045 | { |
1049 | if(UART1_DisplayLine > 3) |
1046 | if(UART1_DisplayLine > 3) |
1050 | { |
1047 | { |
1051 | Menu_Update(UART1_DisplayKeys); |
1048 | Menu_Update(UART1_DisplayKeys); |
1052 | UART1_DisplayKeys = 0; |
1049 | UART1_DisplayKeys = 0; |
1053 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
1050 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
1054 | } |
1051 | } |
1055 | else |
1052 | else |
1056 | { |
1053 | { |
1057 | UART1_DisplayLine = 2; |
1054 | UART1_DisplayLine = 2; |
1058 | sprintf(text,"!!! incompatible !!!"); |
1055 | sprintf(text,"!!! incompatible !!!"); |
1059 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
1056 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
1060 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
1057 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
1061 | } |
1058 | } |
1062 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
1059 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
1063 | UART1_Request_Display = FALSE; |
1060 | UART1_Request_Display = FALSE; |
1064 | } |
1061 | } |
1065 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
1062 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
1066 | { |
1063 | { |
1067 | Menu_Update(0); |
1064 | Menu_Update(0); |
1068 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
1065 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
1069 | UART1_Request_Display1 = FALSE; |
1066 | UART1_Request_Display1 = FALSE; |
1070 | } |
1067 | } |
1071 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
1068 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
1072 | { |
1069 | { |
1073 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
1070 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
1074 | UART1_Request_VersionInfo = FALSE; |
1071 | UART1_Request_VersionInfo = FALSE; |
1075 | } |
1072 | } |
1076 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
1073 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
1077 | { |
1074 | { |
1078 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
1075 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
1079 | UART1_Request_SystemTime = FALSE; |
1076 | UART1_Request_SystemTime = FALSE; |
1080 | } |
1077 | } |
1081 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
1078 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
1082 | { |
1079 | { |
1083 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
1080 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
1084 | UART1_Request_ErrorMessage = FALSE; |
1081 | UART1_Request_ErrorMessage = FALSE; |
1085 | } |
1082 | } |
1086 | #ifdef FOLLOW_ME |
1083 | #ifdef FOLLOW_ME |
1087 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
1084 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
1088 | { |
1085 | { |
1089 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
1086 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
1090 | { |
1087 | { |
1091 | TransmitAlsoToFC = 1; |
1088 | TransmitAlsoToFC = 1; |
1092 | // update FollowMe content |
1089 | // update FollowMe content |
1093 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
1090 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
1094 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
1091 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
1095 | FollowMe.Position.Status = NEWDATA; |
1092 | FollowMe.Position.Status = NEWDATA; |
1096 | FollowMe.Position.Altitude = 1; |
1093 | FollowMe.Position.Altitude = 1; |
1097 | // 0 -> no Orientation |
1094 | // 0 -> no Orientation |
1098 | // 1-360 -> CompassCourse Setpoint |
1095 | // 1-360 -> CompassCourse Setpoint |
1099 | // -1 -> points to WP1 -> itself |
1096 | // -1 -> points to WP1 -> itself |
1100 | FollowMe.Heading = -1; |
1097 | FollowMe.Heading = -1; |
1101 | FollowMe.ToleranceRadius = 1; |
1098 | FollowMe.ToleranceRadius = 1; |
1102 | FollowMe.HoldTime = 60; |
1099 | FollowMe.HoldTime = 60; |
1103 | FollowMe.Event_Flag = 1; |
1100 | FollowMe.Event_Flag = 1; |
1104 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
1101 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
1105 | FollowMe.Type = POINT_TYPE_WP; |
1102 | FollowMe.Type = POINT_TYPE_WP; |
1106 | FollowMe.WP_EventChannelValue = 100; // set servo value |
1103 | FollowMe.WP_EventChannelValue = 100; // set servo value |
1107 | FollowMe.AltitudeRate = 0; // do not change height |
1104 | FollowMe.AltitudeRate = 0; // do not change height |
1108 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
1105 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
1109 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
1106 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
1110 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
1107 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
1111 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
1108 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
1112 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
1109 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
1113 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
1110 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
1114 | FollowMe.reserve[0] = 0; // reserve |
1111 | FollowMe.reserve[0] = 0; // reserve |
1115 | FollowMe.reserve[1] = 0; // reserve |
1112 | FollowMe.reserve[1] = 0; // reserve |
1116 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
1113 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
1117 | } |
1114 | } |
1118 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
1115 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
1119 | } |
1116 | } |
1120 | #endif |
1117 | #endif |
1121 | #ifdef DEBUG // only include functions if DEBUG is defined |
1118 | #ifdef DEBUG // only include functions if DEBUG is defined |
1122 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
1119 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
1123 | { |
1120 | { |
1124 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
1121 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
1125 | SendDebugOutput = 0; |
1122 | SendDebugOutput = 0; |
1126 | } |
1123 | } |
1127 | #endif |
1124 | #endif |
1128 | UART1_Transmit(); // output pending bytes in tx buffer |
1125 | UART1_Transmit(); // output pending bytes in tx buffer |
1129 | } |
1126 | } |
1130 | 1127 | ||
1131 | 1128 |