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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 "i2c.h" |
66 | #include "i2c.h" |
67 | #include "uart0.h" |
67 | #include "uart0.h" |
68 | #include "uart1.h" |
68 | #include "uart1.h" |
69 | #include "uart2.h" |
69 | #include "uart2.h" |
70 | #include "timer1.h" |
70 | #include "timer1.h" |
71 | #include "timer2.h" |
71 | #include "timer2.h" |
72 | #include "analog.h" |
72 | #include "analog.h" |
73 | #include "compass.h" |
73 | #include "compass.h" |
74 | #include "waypoints.h" |
74 | #include "waypoints.h" |
75 | #include "mkprotocol.h" |
75 | #include "mkprotocol.h" |
76 | #include "params.h" |
76 | #include "params.h" |
77 | #include "fifo.h" |
77 | #include "fifo.h" |
78 | #include "debug.h" |
78 | #include "debug.h" |
79 | #include "spi_slave.h" |
79 | #include "spi_slave.h" |
80 | #include "ftphelper.h" |
80 | #include "ftphelper.h" |
81 | #include "led.h" |
81 | #include "led.h" |
82 | #include "fat16.h" |
82 | #include "fat16.h" |
83 | #include "crc16.h" |
83 | #include "crc16.h" |
84 | #include "eeprom.h" |
84 | #include "eeprom.h" |
85 | 85 | ||
86 | #define LIC_CMD_READ_LICENSE 1 |
86 | #define LIC_CMD_READ_LICENSE 1 |
87 | #define LIC_CMD_WRITE_LICENSE 2 |
87 | #define LIC_CMD_WRITE_LICENSE 2 |
88 | #define LIC_CMD_ERASE_LICENSE 3 |
88 | #define LIC_CMD_ERASE_LICENSE 3 |
89 | 89 | ||
90 | #define FALSE 0 |
90 | #define FALSE 0 |
91 | #define TRUE 1 |
91 | #define TRUE 1 |
92 | 92 | ||
93 | #define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
93 | #define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
94 | u32 UART1_AboTimeOut = 0; |
94 | u32 UART1_AboTimeOut = 0; |
95 | 95 | ||
96 | NaviData_Volatile_t NaviData_Volatile; |
96 | NaviData_Volatile_t NaviData_Volatile; |
97 | NaviData_WP_t NaviData_WP; |
97 | NaviData_WP_t NaviData_WP; |
98 | NaviData_Deviation_t NaviData_Deviation; |
98 | NaviData_Deviation_t NaviData_Deviation; |
99 | NaviData_Home_t NaviData_Home; |
99 | NaviData_Home_t NaviData_Home; |
100 | NaviData_Target_t NaviData_Target; |
100 | NaviData_Target_t NaviData_Target; |
101 | NaviData_Flags_t NaviData_Flags; |
101 | NaviData_Flags_t NaviData_Flags; |
102 | NaviData_Tiny_t NaviData_Tiny; |
102 | NaviData_Tiny_t NaviData_Tiny; |
103 | NaviData_Pos_t NaviData_Failsafe; |
103 | NaviData_Pos_t NaviData_Failsafe; |
104 | NaviData_Out_t NaviData_Out1Trigger; |
104 | NaviData_Out_t NaviData_Out1Trigger; |
105 | NaviData_t NaviData; |
105 | NaviData_t NaviData; |
106 | 106 | ||
107 | u8 UART1_Request_VersionInfo = FALSE; |
107 | u8 UART1_Request_VersionInfo = FALSE; |
108 | u8 UART1_Request_ExternalControl= FALSE; |
108 | u8 UART1_Request_ExternalControl= FALSE; |
109 | u8 UART1_Request_Display = FALSE; |
109 | u8 UART1_Request_Display = FALSE; |
110 | u8 UART1_Request_Display1 = FALSE; |
110 | u8 UART1_Request_Display1 = FALSE; |
111 | u8 UART1_Request_DebugData = FALSE; |
111 | u8 UART1_Request_DebugData = FALSE; |
112 | u8 UART1_Request_DebugLabel = 255; |
112 | u8 UART1_Request_DebugLabel = 255; |
113 | u8 UART1_Request_NaviData = FALSE; |
113 | u8 UART1_Request_NaviData = FALSE; |
114 | u8 UART1_Request_ErrorMessage = FALSE; |
114 | u8 UART1_Request_ErrorMessage = FALSE; |
115 | u8 UART1_Request_WritePoint = 0xFF; |
115 | u8 UART1_Request_WritePoint = 0xFF; |
116 | u8 UART1_Request_ReadPoint = 0; |
116 | u8 UART1_Request_ReadPoint = 0; |
117 | u8 UART1_Request_Data3D = FALSE; |
117 | u8 UART1_Request_Data3D = FALSE; |
118 | u8 UART1_Request_MotorData = FALSE; |
118 | u8 UART1_Request_MotorData = FALSE; |
119 | u8 UART1_Request_Echo = FALSE; |
119 | u8 UART1_Request_Echo = FALSE; |
120 | u8 UART1_Request_ParameterId = 0; |
120 | u8 UART1_Request_ParameterId = 0; |
121 | u8 UART1_Request_WPLStore = FALSE; |
121 | u8 UART1_Request_WPLStore = FALSE; |
122 | u8 UART1_Request_Parameter = FALSE; |
122 | u8 UART1_Request_Parameter = FALSE; |
123 | u8 UART1_Request_SystemTime = FALSE; |
123 | u8 UART1_Request_SystemTime = FALSE; |
124 | u8 UART1_DisplayKeys = 0; |
124 | u8 UART1_DisplayKeys = 0; |
125 | u8 UART1_DisplayLine = 0; |
125 | u8 UART1_DisplayLine = 0; |
126 | u8 UART1_ConfirmFrame = 0; |
126 | u8 UART1_ConfirmFrame = 0; |
127 | u8 UART1_Request_FTP = FALSE; |
127 | u8 UART1_Request_FTP = FALSE; |
128 | u8 UART1_Request_LicenseString = FALSE; |
128 | u8 UART1_Request_LicenseString = FALSE; |
129 | u8 LastTransmittedFCStatusFlags2 = 0; |
129 | u8 LastTransmittedFCStatusFlags2 = 0; |
130 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
130 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
131 | u8 Send_NMEA_RMC = FALSE; |
131 | u8 Send_NMEA_RMC = FALSE; |
- | 132 | u8 NaviData_Flags_SpeakHoTT_Processed = 0; |
|
132 | 133 | ||
133 | UART_TypeDef *DebugUART = UART1; |
134 | UART_TypeDef *DebugUART = UART1; |
134 | 135 | ||
135 | #ifdef FOLLOW_ME |
136 | #ifdef FOLLOW_ME |
136 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
137 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
137 | u32 UART1_FollowMe_Timer = 0; |
138 | u32 UART1_FollowMe_Timer = 0; |
138 | Point_t FollowMe; |
139 | Point_t FollowMe; |
139 | #endif |
140 | #endif |
140 | 141 | ||
141 | // the primary rx fifo |
142 | // the primary rx fifo |
142 | #define UART1_RX_FIFO_LEN 1024 |
143 | #define UART1_RX_FIFO_LEN 1024 |
143 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
144 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
144 | fifo_t UART1_rx_fifo; |
145 | fifo_t UART1_rx_fifo; |
145 | 146 | ||
146 | // the rx buffer |
147 | // the rx buffer |
147 | #define UART1_RX_BUFFER_LEN 1024 |
148 | #define UART1_RX_BUFFER_LEN 1024 |
148 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
149 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
149 | Buffer_t UART1_rx_buffer; |
150 | Buffer_t UART1_rx_buffer; |
150 | 151 | ||
151 | // the tx buffer |
152 | // the tx buffer |
152 | #define UART1_TX_BUFFER_LEN 1024 |
153 | #define UART1_TX_BUFFER_LEN 1024 |
153 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
154 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
154 | Buffer_t UART1_tx_buffer; |
155 | Buffer_t UART1_tx_buffer; |
155 | 156 | ||
156 | volatile u8 SerialLinkOkay = 0; |
157 | volatile u8 SerialLinkOkay = 0; |
157 | 158 | ||
158 | u8 text[200]; |
159 | u8 text[200]; |
159 | u8 *LicensePtr = UART1_tbuffer; |
160 | u8 *LicensePtr = UART1_tbuffer; |
160 | 161 | ||
161 | const u8 ANALOG_LABEL[32][16] = |
162 | const u8 ANALOG_LABEL[32][16] = |
162 | { |
163 | { |
163 | //1234567890123456 |
164 | //1234567890123456 |
164 | "AngleNick ", //0 |
165 | "AngleNick ", //0 |
165 | "AngleRoll ", |
166 | "AngleRoll ", |
166 | "AccNick ", |
167 | "AccNick ", |
167 | "AccRoll ", |
168 | "AccRoll ", |
168 | "Altitude [0.1m] ", |
169 | "Altitude [0.1m] ", |
169 | "FC-Flags ", //5 |
170 | "FC-Flags ", //5 |
170 | "NC-Flags ", |
171 | "NC-Flags ", |
171 | "Voltage [0.1V] ", |
172 | "Voltage [0.1V] ", |
172 | "Current [0.1A] ", |
173 | "Current [0.1A] ", |
173 | "GPS Data ", |
174 | "GPS Data ", |
174 | "CompassHeading ", //10 |
175 | "CompassHeading ", //10 |
175 | "GyroHeading ", |
176 | "GyroHeading ", |
176 | "SPI Error ", // achtung: muss auf 12 bleiben |
177 | "SPI Error ", // achtung: muss auf 12 bleiben |
177 | "SPI Okay ", |
178 | "SPI Okay ", |
178 | "I2C Error ", |
179 | "I2C Error ", |
179 | "I2C Okay ", //15 |
180 | "I2C Okay ", //15 |
180 | "16 ", |
181 | "16 ", |
181 | "17 ", |
182 | "17 ", |
182 | "18 ", |
183 | "18 ", |
183 | "19 ", // SD-Card-time |
184 | "19 ", // SD-Card-time |
184 | "EarthMagnet [%] ", //20 |
185 | "EarthMagnet [%] ", //20 |
185 | "Ground Speed ", // "Z_Speed ", |
186 | "Ground Speed ", // "Z_Speed ", |
186 | "N_Speed ", |
187 | "N_Speed ", |
187 | "E_Speed ", |
188 | "E_Speed ", |
188 | "Magnet X ", |
189 | "Magnet X ", |
189 | "Magnet Y ", //25 |
190 | "Magnet Y ", //25 |
190 | "Magnet Z ", |
191 | "Magnet Z ", |
191 | "Distance N ", |
192 | "Distance N ", |
192 | "Distance E ", |
193 | "Distance E ", |
193 | "-GPS_Nick ", |
194 | "-GPS_Nick ", |
194 | "-GPS_Roll ", //30 |
195 | "-GPS_Roll ", //30 |
195 | "Used_Sats " |
196 | "Used_Sats " |
196 | }; |
197 | }; |
197 | 198 | ||
198 | typedef struct |
199 | typedef struct |
199 | { |
200 | { |
200 | u8 Index; |
201 | u8 Index; |
201 | u8 Status; |
202 | u8 Status; |
202 | } __attribute__((packed)) WPL_Answer_t; |
203 | } __attribute__((packed)) WPL_Answer_t; |
203 | WPL_Answer_t WPL_Answer; |
204 | WPL_Answer_t WPL_Answer; |
204 | 205 | ||
205 | DebugOut_t DebugOut; |
206 | DebugOut_t DebugOut; |
206 | ExternControl_t ExternControl; |
207 | ExternControl_t ExternControl; |
207 | UART_VersionInfo_t UART_VersionInfo; |
208 | UART_VersionInfo_t UART_VersionInfo; |
208 | NaviData_t NaviData; |
209 | NaviData_t NaviData; |
209 | Data3D_t Data3D; |
210 | Data3D_t Data3D; |
210 | 211 | ||
211 | u16 Echo; // 2 bytes recieved will be sent back as echo |
212 | u16 Echo; // 2 bytes recieved will be sent back as echo |
212 | 213 | ||
213 | u32 UART1_DebugData_Timer = 0; |
214 | u32 UART1_DebugData_Timer = 0; |
214 | u32 UART1_DebugData_Interval = 0; // in ms |
215 | u32 UART1_DebugData_Interval = 0; // in ms |
215 | u32 UART1_NaviData_Timer = 0; |
216 | u32 UART1_NaviData_Timer = 0; |
216 | u32 UART1_NaviData_Interval = 0; // in ms |
217 | u32 UART1_NaviData_Interval = 0; // in ms |
217 | u16 UART1_NaviData_MaxBytes = 0; // newer protocol? |
218 | u16 UART1_NaviData_MaxBytes = 0; // newer protocol? |
218 | u32 UART1_Data3D_Timer = 0; |
219 | u32 UART1_Data3D_Timer = 0; |
219 | u32 UART1_Data3D_Interval = 0; // in ms |
220 | u32 UART1_Data3D_Interval = 0; // in ms |
220 | u32 UART1_MotorData_Timer = 0; |
221 | u32 UART1_MotorData_Timer = 0; |
221 | u32 UART1_MotorData_Interval = 0; // in ms |
222 | u32 UART1_MotorData_Interval = 0; // in ms |
222 | u32 UART1_Display_Timer = 0; |
223 | u32 UART1_Display_Timer = 0; |
223 | u32 UART1_Display_Interval = 0; // in ms |
224 | u32 UART1_Display_Interval = 0; // in ms |
224 | u32 NMEA_Timer = 0; |
225 | u32 NMEA_Timer = 0; |
225 | u32 NMEA_Interval = 0;// in ms |
226 | u32 NMEA_Interval = 0;// in ms |
226 | 227 | ||
227 | u8 CalculateDebugLableCrc(void) |
228 | u8 CalculateDebugLableCrc(void) |
228 | { |
229 | { |
229 | u16 i; |
230 | u16 i; |
230 | u8 crc = 0; |
231 | u8 crc = 0; |
231 | for(i=0;i<sizeof(ANALOG_LABEL);i++) crc += ANALOG_LABEL[0][i]; |
232 | for(i=0;i<sizeof(ANALOG_LABEL);i++) crc += ANALOG_LABEL[0][i]; |
232 | return(crc); |
233 | return(crc); |
233 | } |
234 | } |
234 | 235 | ||
235 | /********************************************************/ |
236 | /********************************************************/ |
236 | /* Initialization the UART1 */ |
237 | /* Initialization the UART1 */ |
237 | /********************************************************/ |
238 | /********************************************************/ |
238 | void UART1_Init (void) |
239 | void UART1_Init (void) |
239 | { |
240 | { |
240 | GPIO_InitTypeDef GPIO_InitStructure; |
241 | GPIO_InitTypeDef GPIO_InitStructure; |
241 | UART_InitTypeDef UART_InitStructure; |
242 | UART_InitTypeDef UART_InitStructure; |
242 | 243 | ||
243 | // initialize txd buffer |
244 | // initialize txd buffer |
244 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
245 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
245 | 246 | ||
246 | // initialize rxd buffer |
247 | // initialize rxd buffer |
247 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
248 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
248 | 249 | ||
249 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
250 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
250 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
251 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
251 | 252 | ||
252 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
253 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
253 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
254 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
254 | 255 | ||
255 | /*Configure UART1_Rx pin GPIO3.2*/ |
256 | /*Configure UART1_Rx pin GPIO3.2*/ |
256 | GPIO_StructInit(&GPIO_InitStructure); |
257 | GPIO_StructInit(&GPIO_InitStructure); |
257 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
258 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
258 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
259 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
259 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
260 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
260 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
261 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
261 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
262 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
262 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
263 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
263 | 264 | ||
264 | /*Configure UART1_Tx pin GPIO3.3*/ |
265 | /*Configure UART1_Tx pin GPIO3.3*/ |
265 | GPIO_StructInit(&GPIO_InitStructure); |
266 | GPIO_StructInit(&GPIO_InitStructure); |
266 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
267 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
267 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
268 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
268 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
269 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
269 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
270 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
270 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
271 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
271 | 272 | ||
272 | /* UART1 configured as follow: |
273 | /* UART1 configured as follow: |
273 | - Word Length = 8 Bits |
274 | - Word Length = 8 Bits |
274 | - One Stop Bit |
275 | - One Stop Bit |
275 | - No parity |
276 | - No parity |
276 | - BaudRate = 57600 baud |
277 | - BaudRate = 57600 baud |
277 | - Hardware flow control Disabled |
278 | - Hardware flow control Disabled |
278 | - Receive and transmit enabled |
279 | - Receive and transmit enabled |
279 | - Receive and transmit FIFOs are Disabled |
280 | - Receive and transmit FIFOs are Disabled |
280 | */ |
281 | */ |
281 | UART_StructInit(&UART_InitStructure); |
282 | UART_StructInit(&UART_InitStructure); |
282 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
283 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
283 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
284 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
284 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
285 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
285 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
286 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
286 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
287 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
287 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
288 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
288 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
289 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
289 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
290 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
290 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
291 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
291 | 292 | ||
292 | UART_DeInit(UART1); // reset uart 1 to default |
293 | UART_DeInit(UART1); // reset uart 1 to default |
293 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
294 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
294 | // enable uart 1 interrupts selective |
295 | // enable uart 1 interrupts selective |
295 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
296 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
296 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
297 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
297 | // configure the uart 1 interupt line |
298 | // configure the uart 1 interupt line |
298 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
299 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
299 | // enable the uart 1 IRQ |
300 | // enable the uart 1 IRQ |
300 | VIC_ITCmd(UART1_ITLine, ENABLE); |
301 | VIC_ITCmd(UART1_ITLine, ENABLE); |
301 | 302 | ||
302 | // initialize the debug timer |
303 | // initialize the debug timer |
303 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
304 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
304 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
305 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
305 | NMEA_Timer = SetDelay(14000); |
306 | NMEA_Timer = SetDelay(14000); |
306 | 307 | ||
307 | // Fill Version Info Structure |
308 | // Fill Version Info Structure |
308 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
309 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
309 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
310 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
310 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
311 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
311 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
312 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
312 | UART_VersionInfo.HWMajor = Version_HW & 0x7F; |
313 | UART_VersionInfo.HWMajor = Version_HW & 0x7F; |
313 | UART_VersionInfo.BL_Firmware = 255; |
314 | UART_VersionInfo.BL_Firmware = 255; |
314 | UART_VersionInfo.Flags = 0; |
315 | UART_VersionInfo.Flags = 0; |
315 | UART_VersionInfo.LabelTextCRC = CalculateDebugLableCrc(); |
316 | UART_VersionInfo.LabelTextCRC = CalculateDebugLableCrc(); |
316 | NaviData.Version = NAVIDATA_VERSION; |
317 | NaviData.Version = NAVIDATA_VERSION; |
317 | UART1_PutString("\r\n UART1 init...ok"); |
318 | UART1_PutString("\r\n UART1 init...ok"); |
318 | } |
319 | } |
319 | 320 | ||
320 | 321 | ||
321 | /****************************************************************/ |
322 | /****************************************************************/ |
322 | /* USART1 receiver ISR */ |
323 | /* USART1 receiver ISR */ |
323 | /****************************************************************/ |
324 | /****************************************************************/ |
324 | void UART1_IRQHandler(void) |
325 | void UART1_IRQHandler(void) |
325 | { |
326 | { |
326 | static u8 abortState = 0; |
327 | static u8 abortState = 0; |
327 | u8 c; |
328 | u8 c; |
328 | 329 | ||
329 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
330 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
330 | { |
331 | { |
331 | // clear the pending bits! |
332 | // clear the pending bits! |
332 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
333 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
333 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
334 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
334 | // if debug UART is not UART1 |
335 | // if debug UART is not UART1 |
335 | if (DebugUART != UART1) |
336 | if (DebugUART != UART1) |
336 | { // forward received data to the debug UART tx buffer |
337 | { // forward received data to the debug UART tx buffer |
337 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
338 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
338 | { |
339 | { |
339 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
340 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
340 | c = UART_ReceiveData(UART1); |
341 | c = UART_ReceiveData(UART1); |
341 | 342 | ||
342 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
343 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
343 | switch (abortState) |
344 | switch (abortState) |
344 | { |
345 | { |
345 | case 0: |
346 | case 0: |
346 | if (c == 27) abortState++; |
347 | if (c == 27) abortState++; |
347 | break; |
348 | break; |
348 | case 1: |
349 | case 1: |
349 | if (c == 27) abortState++; |
350 | if (c == 27) abortState++; |
350 | else abortState = 0; |
351 | else abortState = 0; |
351 | break; |
352 | break; |
352 | case 2: |
353 | case 2: |
353 | if (c == 0x55) abortState++; |
354 | if (c == 0x55) abortState++; |
354 | else abortState = 0; |
355 | else abortState = 0; |
355 | break; |
356 | break; |
356 | case 3: |
357 | case 3: |
357 | if (c == 0xAA) abortState++; |
358 | if (c == 0xAA) abortState++; |
358 | else abortState = 0; |
359 | else abortState = 0; |
359 | break; |
360 | break; |
360 | case 4: |
361 | case 4: |
361 | if (c == 0x00) |
362 | if (c == 0x00) |
362 | { |
363 | { |
363 | if(DebugUART == UART0) |
364 | if(DebugUART == UART0) |
364 | { |
365 | { |
365 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
366 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
366 | TIMER2_Init(); // enbable servo outputs |
367 | TIMER2_Init(); // enbable servo outputs |
367 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
368 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
368 | } |
369 | } |
369 | DebugUART = UART1; |
370 | DebugUART = UART1; |
370 | } |
371 | } |
371 | abortState = 0; |
372 | abortState = 0; |
372 | break; |
373 | break; |
373 | } // end switch abort state |
374 | } // end switch abort state |
374 | // if the Debug uart is not UART1, redirect input to the Debug UART |
375 | // if the Debug uart is not UART1, redirect input to the Debug UART |
375 | if (DebugUART != UART1) |
376 | if (DebugUART != UART1) |
376 | { |
377 | { |
377 | // wait for space in the tx buffer of the DebugUART |
378 | // wait for space in the tx buffer of the DebugUART |
378 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
379 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
379 | // move byte to the tx fifo of the debug uart |
380 | // move byte to the tx fifo of the debug uart |
380 | UART_SendData(DebugUART, c); |
381 | UART_SendData(DebugUART, c); |
381 | } |
382 | } |
382 | } |
383 | } |
383 | } |
384 | } |
384 | else // DebugUART == UART1 (normal operation) |
385 | else // DebugUART == UART1 (normal operation) |
385 | { |
386 | { |
386 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
387 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
387 | { // some byes in the hardware fifo |
388 | { // some byes in the hardware fifo |
388 | // get byte from hardware fifo |
389 | // get byte from hardware fifo |
389 | c = UART_ReceiveData(UART1); |
390 | c = UART_ReceiveData(UART1); |
390 | // put into the software fifo |
391 | // put into the software fifo |
391 | if(!fifo_put(&UART1_rx_fifo, c)) |
392 | if(!fifo_put(&UART1_rx_fifo, c)) |
392 | { // fifo overflow |
393 | { // fifo overflow |
393 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
394 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
394 | } |
395 | } |
395 | } // EOF while some byes in the hardware fifo |
396 | } // EOF while some byes in the hardware fifo |
396 | } // eof DebugUart = UART1 |
397 | } // eof DebugUart = UART1 |
397 | } |
398 | } |
398 | 399 | ||
399 | 400 | ||
400 | 401 | ||
401 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
402 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
402 | } |
403 | } |
403 | 404 | ||
404 | /**************************************************************/ |
405 | /**************************************************************/ |
405 | /* Process incomming data from debug uart */ |
406 | /* Process incomming data from debug uart */ |
406 | /**************************************************************/ |
407 | /**************************************************************/ |
407 | void UART1_ProcessRxData(void) |
408 | void UART1_ProcessRxData(void) |
408 | { |
409 | { |
409 | // return on forwarding uart or unlocked rx buffer |
410 | // return on forwarding uart or unlocked rx buffer |
410 | u8 c; |
411 | u8 c; |
411 | if(DebugUART != UART1) return; |
412 | if(DebugUART != UART1) return; |
412 | // if rx buffer is not locked |
413 | // if rx buffer is not locked |
413 | if(UART1_rx_buffer.Locked == FALSE) |
414 | if(UART1_rx_buffer.Locked == FALSE) |
414 | { |
415 | { |
415 | //collect data from primary rx fifo |
416 | //collect data from primary rx fifo |
416 | while(fifo_get(&UART1_rx_fifo, &c)) |
417 | while(fifo_get(&UART1_rx_fifo, &c)) |
417 | { |
418 | { |
418 | // break if complete frame is collected |
419 | // break if complete frame is collected |
419 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
420 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
420 | } |
421 | } |
421 | } |
422 | } |
422 | if(UART1_rx_buffer.Locked == FALSE) return; |
423 | if(UART1_rx_buffer.Locked == FALSE) return; |
423 | 424 | ||
424 | Point_t * pPoint = NULL; |
425 | Point_t * pPoint = NULL; |
425 | SerialMsg_t SerialMsg; |
426 | SerialMsg_t SerialMsg; |
426 | 427 | ||
427 | // analyze header first |
428 | // analyze header first |
428 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
429 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
429 | if( SerialMsg.Address == FC_ADDRESS ) |
430 | if( SerialMsg.Address == FC_ADDRESS ) |
430 | { |
431 | { |
431 | switch(SerialMsg.CmdID) |
432 | switch(SerialMsg.CmdID) |
432 | { |
433 | { |
433 | // case 'v': // version |
434 | // case 'v': // version |
434 | case 'b': // extern control |
435 | case 'b': // extern control |
435 | UART1_ExternalControlConfirmFrame = 1; |
436 | UART1_ExternalControlConfirmFrame = 1; |
436 | case 'y': // serial poti values |
437 | case 'y': // serial poti values |
437 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
438 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
438 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
439 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
439 | return; //end process rx data |
440 | return; //end process rx data |
440 | break; |
441 | break; |
441 | } |
442 | } |
442 | } |
443 | } |
443 | 444 | ||
444 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
445 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
445 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
446 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
446 | switch(SerialMsg.Address) // check for Slave Address |
447 | switch(SerialMsg.Address) // check for Slave Address |
447 | { |
448 | { |
448 | case NC_ADDRESS: // own Slave Address |
449 | case NC_ADDRESS: // own Slave Address |
449 | switch(SerialMsg.CmdID) |
450 | switch(SerialMsg.CmdID) |
450 | { |
451 | { |
451 | case 't': // request for the GPS time |
452 | case 't': // request for the GPS time |
452 | UART1_Request_SystemTime = TRUE; |
453 | UART1_Request_SystemTime = TRUE; |
453 | break; |
454 | break; |
454 | 455 | ||
455 | case 'm': // request for the license string |
456 | case 'm': // request for the license string |
456 | UART1_Request_LicenseString = SerialMsg.pData[0]; |
457 | UART1_Request_LicenseString = SerialMsg.pData[0]; |
457 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && (UART_VersionInfo.HWMajor >= 20)) |
458 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && (UART_VersionInfo.HWMajor >= 20)) |
458 | { |
459 | { |
459 | memcpy(LicensePtr, &SerialMsg.pData[1],LICENSE_SIZE_TEXT); // copy ftp parameter |
460 | memcpy(LicensePtr, &SerialMsg.pData[1],LICENSE_SIZE_TEXT); // copy ftp parameter |
460 | } |
461 | } |
461 | break; |
462 | break; |
462 | case 'f': // ftp command |
463 | case 'f': // ftp command |
463 | UART1_Request_FTP = SerialMsg.pData[0]; |
464 | UART1_Request_FTP = SerialMsg.pData[0]; |
464 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
465 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
465 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
466 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
466 | break; |
467 | break; |
467 | 468 | ||
468 | case 'z': // connection checker |
469 | case 'z': // connection checker |
469 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
470 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
470 | UART1_Request_Echo = TRUE; |
471 | UART1_Request_Echo = TRUE; |
471 | break; |
472 | break; |
472 | 473 | ||
473 | case 'e': // request for the text of the error status |
474 | case 'e': // request for the text of the error status |
474 | UART1_Request_ErrorMessage = TRUE; |
475 | UART1_Request_ErrorMessage = TRUE; |
475 | break; |
476 | break; |
476 | 477 | ||
477 | case 's':// new target position |
478 | case 's':// new target position |
478 | pPoint = (Point_t*)SerialMsg.pData; |
479 | pPoint = (Point_t*)SerialMsg.pData; |
479 | if(pPoint->Position.Status == NEWDATA) |
480 | if(pPoint->Position.Status == NEWDATA) |
480 | { |
481 | { |
481 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
482 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
482 | //pPoint->Index = 1; // must be one after empty list |
483 | //pPoint->Index = 1; // must be one after empty list |
483 | PointList_SetAt(pPoint); |
484 | PointList_SetAt(pPoint); |
484 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
485 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
485 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
486 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
486 | BeepTime = 50; |
487 | BeepTime = 50; |
487 | } |
488 | } |
488 | else |
489 | else |
489 | if((pPoint->Position.Status == SIMULATION) && !(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN)) |
490 | if((pPoint->Position.Status == SIMULATION) && !(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN)) |
490 | { |
491 | { |
491 | if(pPoint->Event_Flag & SIMULATION_MOTOR_ON) |
492 | if(pPoint->Event_Flag & SIMULATION_MOTOR_ON) |
492 | { |
493 | { |
493 | GPSPos_Copy(&(pPoint->Position), &SimulationPosition); // update hold position |
494 | GPSPos_Copy(&(pPoint->Position), &SimulationPosition); // update hold position |
494 | CompassDirectionAtMotorStart = SimulatedDirection*10; |
495 | CompassDirectionAtMotorStart = SimulatedDirection*10; |
495 | } |
496 | } |
496 | if(!(SimulationFlags & SIMULATION_MOTOR_ON) && (pPoint->Event_Flag & SIMULATION_MOTOR_ON)) |
497 | if(!(SimulationFlags & SIMULATION_MOTOR_ON) && (pPoint->Event_Flag & SIMULATION_MOTOR_ON)) |
497 | { |
498 | { |
498 | SimulationFlags = pPoint->Event_Flag | SIMULATION_MOTOR_START; // dann steht da noch nicht "SIMULATION_MOTOR_ON" drin |
499 | SimulationFlags = pPoint->Event_Flag | SIMULATION_MOTOR_START; // dann steht da noch nicht "SIMULATION_MOTOR_ON" drin |
499 | SpeakHoTT = SPEAK_STARTING; |
500 | SpeakHoTT = SPEAK_STARTING; |
500 | } |
501 | } |
501 | else |
502 | else |
502 | if(!(pPoint->Event_Flag & SIMULATION_MOTOR_ON) && (SimulationFlags & SIMULATION_MOTOR_ON)) |
503 | if(!(pPoint->Event_Flag & SIMULATION_MOTOR_ON) && (SimulationFlags & SIMULATION_MOTOR_ON)) |
503 | { |
504 | { |
504 | SimulationFlags = pPoint->Event_Flag; |
505 | SimulationFlags = pPoint->Event_Flag; |
505 | SpeakHoTT = SPEAK_MK_OFF; |
506 | SpeakHoTT = SPEAK_MK_OFF; |
506 | BeepTime = 50; |
507 | BeepTime = 50; |
507 | } |
508 | } |
508 | else |
509 | else |
509 | SimulationFlags = pPoint->Event_Flag | (SimulationFlags & SIMULATION_MOTOR_START); |
510 | SimulationFlags = pPoint->Event_Flag | (SimulationFlags & SIMULATION_MOTOR_START); |
510 | } |
511 | } |
511 | break; |
512 | break; |
512 | case 'u': // redirect debug uart |
513 | case 'u': // redirect debug uart |
513 | switch(SerialMsg.pData[0]) |
514 | switch(SerialMsg.pData[0]) |
514 | { |
515 | { |
515 | case UART_FLIGHTCTRL: |
516 | case UART_FLIGHTCTRL: |
516 | UART2_Init(); // initialize UART2 to FC pins |
517 | UART2_Init(); // initialize UART2 to FC pins |
517 | fifo_purge(&UART1_rx_fifo); |
518 | fifo_purge(&UART1_rx_fifo); |
518 | TIMER2_Deinit(); // reduce irq load |
519 | TIMER2_Deinit(); // reduce irq load |
519 | DebugUART = UART2; |
520 | DebugUART = UART2; |
520 | break; |
521 | break; |
521 | case UART_MK3MAG: |
522 | case UART_MK3MAG: |
522 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
523 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
523 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
524 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
524 | GPSData.Status = INVALID; |
525 | GPSData.Status = INVALID; |
525 | fifo_purge(&UART1_rx_fifo); |
526 | fifo_purge(&UART1_rx_fifo); |
526 | DebugUART = UART0; |
527 | DebugUART = UART0; |
527 | break; |
528 | break; |
528 | case UART_MKGPS: |
529 | case UART_MKGPS: |
529 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
530 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
530 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
531 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
531 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
532 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
532 | GPSData.Status = INVALID; |
533 | GPSData.Status = INVALID; |
533 | fifo_purge(&UART1_rx_fifo); |
534 | fifo_purge(&UART1_rx_fifo); |
534 | DebugUART = UART0; |
535 | DebugUART = UART0; |
535 | break; |
536 | break; |
536 | default: |
537 | default: |
537 | break; |
538 | break; |
538 | } |
539 | } |
539 | break; |
540 | break; |
540 | 541 | ||
541 | case 'w':// Set point in list at index |
542 | case 'w':// Set point in list at index |
542 | { |
543 | { |
543 | pPoint = (Point_t*)SerialMsg.pData; |
544 | pPoint = (Point_t*)SerialMsg.pData; |
544 | 545 | ||
545 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
546 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
546 | { |
547 | { |
547 | PointList_Clear(); |
548 | PointList_Clear(); |
548 | GPS_pWaypoint = PointList_WPBegin(); |
549 | GPS_pWaypoint = PointList_WPBegin(); |
549 | UART1_Request_WritePoint = 0; // return new point count |
550 | UART1_Request_WritePoint = 0; // return new point count |
550 | NewWaypointsReceived = 1; |
551 | NewWaypointsReceived = 1; |
551 | } |
552 | } |
552 | else |
553 | else |
553 | { // update WP in list at index |
554 | { // update WP in list at index |
554 | if(pPoint->Index > MaxNumberOfWaypoints) |
555 | if(pPoint->Index > MaxNumberOfWaypoints) |
555 | { |
556 | { |
556 | UART1_Request_WritePoint = 254; |
557 | UART1_Request_WritePoint = 254; |
557 | pPoint->Index = MaxNumberOfWaypoints; |
558 | pPoint->Index = MaxNumberOfWaypoints; |
558 | } |
559 | } |
559 | else UART1_Request_WritePoint = PointList_SetAt(pPoint); |
560 | else UART1_Request_WritePoint = PointList_SetAt(pPoint); |
560 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
561 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
561 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
562 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
562 | if(UART1_Request_WritePoint == pPoint->Index) |
563 | if(UART1_Request_WritePoint == pPoint->Index) |
563 | { |
564 | { |
564 | BeepTime = 500; |
565 | BeepTime = 500; |
565 | if(UART1_Request_WritePoint == 1) SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
566 | if(UART1_Request_WritePoint == 1) SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
566 | } |
567 | } |
567 | } |
568 | } |
568 | } |
569 | } |
569 | break; |
570 | break; |
570 | 571 | ||
571 | case 'x':// Read Waypoint from List |
572 | case 'x':// Read Waypoint from List |
572 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
573 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
573 | break; |
574 | break; |
574 | 575 | ||
575 | case 'i':// Store WP List to file |
576 | case 'i':// Store WP List to file |
576 | memcpy((u8*)&WPL_Store, SerialMsg.pData, sizeof(WPL_Store_t)); |
577 | memcpy((u8*)&WPL_Store, SerialMsg.pData, sizeof(WPL_Store_t)); |
577 | WPL_Store.Name[11] = 0; // make sure the name string is terminated |
578 | WPL_Store.Name[11] = 0; // make sure the name string is terminated |
578 | WPL_Answer.Index = WPL_Store.Index; // echo Index in cmd answer |
579 | WPL_Answer.Index = WPL_Store.Index; // echo Index in cmd answer |
579 | WPL_Answer.Status = PointList_WriteToFile(&WPL_Store); |
580 | WPL_Answer.Status = PointList_WriteToFile(&WPL_Store); |
580 | UART1_Request_WPLStore = TRUE; |
581 | UART1_Request_WPLStore = TRUE; |
581 | break; |
582 | break; |
582 | 583 | ||
583 | case 'j':// Set/Get NC-Parameter |
584 | case 'j':// Set/Get NC-Parameter |
584 | switch(SerialMsg.pData[0]) |
585 | switch(SerialMsg.pData[0]) |
585 | { |
586 | { |
586 | case 0: // get |
587 | case 0: // get |
587 | break; |
588 | break; |
588 | 589 | ||
589 | case 1: // set |
590 | case 1: // set |
590 | { |
591 | { |
591 | s16 value; |
592 | s16 value; |
592 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
593 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
593 | NCParams_SetValue(SerialMsg.pData[1], &value); |
594 | NCParams_SetValue(SerialMsg.pData[1], &value); |
594 | } |
595 | } |
595 | break; |
596 | break; |
596 | 597 | ||
597 | default: |
598 | default: |
598 | break; |
599 | break; |
599 | } |
600 | } |
600 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
601 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
601 | UART1_Request_Parameter = TRUE; |
602 | UART1_Request_Parameter = TRUE; |
602 | break; |
603 | break; |
603 | default: |
604 | default: |
604 | // unsupported command recieved |
605 | // unsupported command recieved |
605 | break; |
606 | break; |
606 | } // case NC_ADDRESS |
607 | } // case NC_ADDRESS |
607 | // "break;" is missing here to fall thru to the common commands |
608 | // "break;" is missing here to fall thru to the common commands |
608 | 609 | ||
609 | default: // and any other Slave Address |
610 | default: // and any other Slave Address |
610 | 611 | ||
611 | switch(SerialMsg.CmdID) // check CmdID |
612 | switch(SerialMsg.CmdID) // check CmdID |
612 | { |
613 | { |
613 | case 'a':// request for the labels of the analog debug outputs |
614 | case 'a':// request for the labels of the analog debug outputs |
614 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
615 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
615 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
616 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
616 | break; |
617 | break; |
617 | /* |
618 | /* |
618 | case 'b': // submit extern control |
619 | case 'b': // submit extern control |
619 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
620 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
620 | UART1_ConfirmFrame = ExternControl.Frame; |
621 | UART1_ConfirmFrame = ExternControl.Frame; |
621 | break; |
622 | break; |
622 | */ |
623 | */ |
623 | case 'd': // request for debug data; |
624 | case 'd': // request for debug data; |
624 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
625 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
625 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
626 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
626 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
627 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
627 | break; |
628 | break; |
628 | 629 | ||
629 | case 'c': // request for 3D data; |
630 | case 'c': // request for 3D data; |
630 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
631 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
631 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
632 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
632 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
633 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
633 | break; |
634 | break; |
634 | 635 | ||
635 | case 'k': // request for Motor data; |
636 | case 'k': // request for Motor data; |
636 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
637 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
637 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
638 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
638 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
639 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
639 | break; |
640 | break; |
640 | 641 | ||
641 | case 'h':// reqest for display line |
642 | case 'h':// reqest for display line |
642 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
643 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
643 | { |
644 | { |
644 | UART1_DisplayLine = 2; |
645 | UART1_DisplayLine = 2; |
645 | UART1_Display_Interval = 0; |
646 | UART1_Display_Interval = 0; |
646 | UART1_Request_Display = TRUE; |
647 | UART1_Request_Display = TRUE; |
647 | } |
648 | } |
648 | else |
649 | else |
649 | { |
650 | { |
650 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
651 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
651 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
652 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
652 | UART1_DisplayLine = 4; |
653 | UART1_DisplayLine = 4; |
653 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
654 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
654 | if(UART1_Display_Interval) UART1_Request_Display = TRUE; |
655 | if(UART1_Display_Interval) UART1_Request_Display = TRUE; |
655 | } |
656 | } |
656 | break; |
657 | break; |
657 | 658 | ||
658 | case 'l':// reqest for display columns |
659 | case 'l':// reqest for display columns |
659 | MenuItem = SerialMsg.pData[0]; |
660 | MenuItem = SerialMsg.pData[0]; |
660 | UART1_Request_Display1 = TRUE; |
661 | UART1_Request_Display1 = TRUE; |
661 | break; |
662 | break; |
662 | 663 | ||
663 | case 'o': // request for navigation information |
664 | case 'o': // request for navigation information |
664 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
665 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
665 | if(SerialMsg.DataLen > 2) UART1_NaviData_MaxBytes = SerialMsg.pData[1] * 256 + SerialMsg.pData[2]; |
666 | if(SerialMsg.DataLen > 2) UART1_NaviData_MaxBytes = SerialMsg.pData[1] * 256 + SerialMsg.pData[2]; |
666 | else UART1_NaviData_MaxBytes = 0; |
667 | else UART1_NaviData_MaxBytes = 0; |
667 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
668 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
668 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
669 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
669 | break; |
670 | break; |
670 | 671 | ||
671 | case 'v': // request for version info |
672 | case 'v': // request for version info |
672 | if(SerialMsg.DataLen > 0 && SerialMsg.pData[0] == 1) UART1_Request_VersionInfo = 1; |
673 | if(SerialMsg.DataLen > 0 && SerialMsg.pData[0] == 1) UART1_Request_VersionInfo = 1; |
673 | else UART1_Request_VersionInfo = 2; |
674 | else UART1_Request_VersionInfo = 2; |
674 | break; |
675 | break; |
675 | default: |
676 | default: |
676 | // unsupported command recieved |
677 | // unsupported command recieved |
677 | break; |
678 | break; |
678 | } |
679 | } |
679 | break; // default: |
680 | break; // default: |
680 | } |
681 | } |
681 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
682 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
682 | } |
683 | } |
683 | 684 | ||
684 | 685 | ||
685 | /*****************************************************/ |
686 | /*****************************************************/ |
686 | /* Send a character */ |
687 | /* Send a character */ |
687 | /*****************************************************/ |
688 | /*****************************************************/ |
688 | s16 UART1_Putchar(char c) |
689 | s16 UART1_Putchar(char c) |
689 | { |
690 | { |
690 | u32 timeout = 10000; |
691 | u32 timeout = 10000; |
691 | if (c == '\n') UART1_Putchar('\r'); |
692 | if (c == '\n') UART1_Putchar('\r'); |
692 | // wait until txd fifo is not full |
693 | // wait until txd fifo is not full |
693 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
694 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
694 | // transmit byte |
695 | // transmit byte |
695 | UART_SendData(UART1, c); |
696 | UART_SendData(UART1, c); |
696 | #ifdef FOLLOW_ME |
697 | #ifdef FOLLOW_ME |
697 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
698 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
698 | #endif |
699 | #endif |
699 | return (0); |
700 | return (0); |
700 | } |
701 | } |
701 | 702 | ||
702 | /*****************************************************/ |
703 | /*****************************************************/ |
703 | /* Send a string to the debug uart */ |
704 | /* Send a string to the debug uart */ |
704 | /*****************************************************/ |
705 | /*****************************************************/ |
705 | void UART1_PutString(u8 *s) |
706 | void UART1_PutString(u8 *s) |
706 | { |
707 | { |
707 | if(s == NULL) return; |
708 | if(s == NULL) return; |
708 | while (*s != '\0' && DebugUART == UART1) |
709 | while (*s != '\0' && DebugUART == UART1) |
709 | { |
710 | { |
710 | UART1_Putchar(*s); |
711 | UART1_Putchar(*s); |
711 | s ++; |
712 | s ++; |
712 | } |
713 | } |
713 | } |
714 | } |
714 | 715 | ||
715 | 716 | ||
716 | /**************************************************************/ |
717 | /**************************************************************/ |
717 | /* Transmit tx buffer via debug uart */ |
718 | /* Transmit tx buffer via debug uart */ |
718 | /**************************************************************/ |
719 | /**************************************************************/ |
719 | void UART1_Transmit(void) |
720 | void UART1_Transmit(void) |
720 | { |
721 | { |
721 | u8 tmp_tx; |
722 | u8 tmp_tx; |
722 | if(DebugUART != UART1) return; |
723 | if(DebugUART != UART1) return; |
723 | // if something has to be send and the txd fifo is not full |
724 | // if something has to be send and the txd fifo is not full |
724 | if(UART1_tx_buffer.Locked == TRUE) |
725 | if(UART1_tx_buffer.Locked == TRUE) |
725 | { |
726 | { |
726 | // while there is some space in the tx fifo |
727 | // while there is some space in the tx fifo |
727 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
728 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
728 | { |
729 | { |
729 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
730 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
730 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
731 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
731 | #ifdef FOLLOW_ME |
732 | #ifdef FOLLOW_ME |
732 | if(TransmitAlsoToFC) |
733 | if(TransmitAlsoToFC) |
733 | { |
734 | { |
734 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
735 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
735 | } |
736 | } |
736 | #endif |
737 | #endif |
737 | // if terminating character or end of txd buffer reached |
738 | // if terminating character or end of txd buffer reached |
738 | if((tmp_tx == '\0') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
739 | if((tmp_tx == '\0') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
739 | { |
740 | { |
740 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
741 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
741 | #ifdef FOLLOW_ME |
742 | #ifdef FOLLOW_ME |
742 | TransmitAlsoToFC = 0; |
743 | TransmitAlsoToFC = 0; |
743 | #endif |
744 | #endif |
744 | break; // end while loop |
745 | break; // end while loop |
745 | } |
746 | } |
746 | } |
747 | } |
747 | } |
748 | } |
748 | } |
749 | } |
749 | 750 | ||
750 | //$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
751 | //$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
751 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
752 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
752 | //$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C |
753 | //$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C |
753 | //http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm |
754 | //http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm |
754 | 755 | ||
755 | void CreateNmeaGGA(void) |
756 | void CreateNmeaGGA(void) |
756 | { |
757 | { |
757 | u8 array[200], i = 0, crc = 0, x; |
758 | u8 array[200], i = 0, crc = 0, x; |
758 | s32 tmp1, tmp2; |
759 | s32 tmp1, tmp2; |
759 | 760 | ||
760 | i += sprintf(array, "$GPGGA,"); |
761 | i += sprintf(array, "$GPGGA,"); |
761 | // +++++++++++++++++++++++++++++++++++++++++++ |
762 | // +++++++++++++++++++++++++++++++++++++++++++ |
762 | if(SystemTime.Valid) |
763 | if(SystemTime.Valid) |
763 | { |
764 | { |
764 | i += sprintf(&array[i], "%02d%02d%02d.%02d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec/10); |
765 | i += sprintf(&array[i], "%02d%02d%02d.%02d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec/10); |
765 | } |
766 | } |
766 | else |
767 | else |
767 | { |
768 | { |
768 | i += sprintf(&array[i], ","); |
769 | i += sprintf(&array[i], ","); |
769 | } |
770 | } |
770 | // +++++++++++++++++++++++++++++++++++++++++++ |
771 | // +++++++++++++++++++++++++++++++++++++++++++ |
771 | if(GPSData.Flags & FLAG_GPSFIXOK) |
772 | if(GPSData.Flags & FLAG_GPSFIXOK) |
772 | { |
773 | { |
773 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
774 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
774 | i += sprintf(&array[i],"%02d",(s16)tmp1); |
775 | i += sprintf(&array[i],"%02d",(s16)tmp1); |
775 | 776 | ||
776 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
777 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
777 | tmp1 *= 6; // in Minuten |
778 | tmp1 *= 6; // in Minuten |
778 | tmp2 = tmp1 / 1000000L; |
779 | tmp2 = tmp1 / 1000000L; |
779 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
780 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
780 | tmp2 = tmp1 % 1000000L; |
781 | tmp2 = tmp1 % 1000000L; |
781 | tmp2 /= 100; // zwei Stellen zu viel |
782 | tmp2 /= 100; // zwei Stellen zu viel |
782 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
783 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
783 | 784 | ||
784 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
785 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
785 | else i += sprintf(&array[i],"S,"); |
786 | else i += sprintf(&array[i],"S,"); |
786 | // +++++++++++++++++++++++++++++++++++++++++++ |
787 | // +++++++++++++++++++++++++++++++++++++++++++ |
787 | 788 | ||
788 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
789 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
789 | i += sprintf(&array[i],"%03d", (u16)tmp1); |
790 | i += sprintf(&array[i],"%03d", (u16)tmp1); |
790 | 791 | ||
791 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
792 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
792 | tmp1 *= 6; // in Minuten |
793 | tmp1 *= 6; // in Minuten |
793 | tmp2 = tmp1 / 1000000L; |
794 | tmp2 = tmp1 / 1000000L; |
794 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
795 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
795 | tmp2 = tmp1 % 1000000L; |
796 | tmp2 = tmp1 % 1000000L; |
796 | tmp2 /= 100; // zwei Stellen zu viel |
797 | tmp2 /= 100; // zwei Stellen zu viel |
797 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
798 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
798 | 799 | ||
799 | 800 | ||
800 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
801 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
801 | else i += sprintf(&array[i],"W,"); |
802 | else i += sprintf(&array[i],"W,"); |
802 | i += sprintf(&array[i],"%d,",GPSData.SatFix); |
803 | i += sprintf(&array[i],"%d,",GPSData.SatFix); |
803 | i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
804 | i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
804 | i += sprintf(&array[i],"%d.%d,",(s16)(GPSData.Position_Accuracy/100),abs(GPSData.Position_Accuracy%100)); |
805 | i += sprintf(&array[i],"%d.%d,",(s16)(GPSData.Position_Accuracy/100),abs(GPSData.Position_Accuracy%100)); |
805 | // i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
806 | // i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
806 | tmp1 = NaviData.Altimeter / 2; // in dm |
807 | tmp1 = NaviData.Altimeter / 2; // in dm |
807 | i += sprintf(&array[i],"%d.%d,M,",(s16)tmp1 / 10,abs((s16)tmp1 % 10)); |
808 | i += sprintf(&array[i],"%d.%d,M,",(s16)tmp1 / 10,abs((s16)tmp1 % 10)); |
808 | i += sprintf(&array[i],",,,*"); |
809 | i += sprintf(&array[i],",,,*"); |
809 | } |
810 | } |
810 | else |
811 | else |
811 | { |
812 | { |
812 | i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats); |
813 | i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats); |
813 | } |
814 | } |
814 | for(x = 1; x < i-1; x++) |
815 | for(x = 1; x < i-1; x++) |
815 | { |
816 | { |
816 | crc ^= array[x]; |
817 | crc ^= array[x]; |
817 | } |
818 | } |
818 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
819 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
819 | AddSerialData(&UART1_tx_buffer,array,i); |
820 | AddSerialData(&UART1_tx_buffer,array,i); |
820 | 821 | ||
821 | // +++++++++++++++++++++++++++++++++++++++++++ |
822 | // +++++++++++++++++++++++++++++++++++++++++++ |
822 | } |
823 | } |
823 | 824 | ||
824 | //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
825 | //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
825 | //$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP |
826 | //$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP |
826 | 827 | ||
827 | void CreateNmeaRMC(void) |
828 | void CreateNmeaRMC(void) |
828 | { |
829 | { |
829 | u8 array[200], i = 0, crc = 0, x; |
830 | u8 array[200], i = 0, crc = 0, x; |
830 | s16 tmp_int; |
831 | s16 tmp_int; |
831 | s32 tmp1, tmp2; |
832 | s32 tmp1, tmp2; |
832 | // +++++++++++++++++++++++++++++++++++++++++++ |
833 | // +++++++++++++++++++++++++++++++++++++++++++ |
833 | i += sprintf(array, "$GPRMC,"); |
834 | i += sprintf(array, "$GPRMC,"); |
834 | // +++++++++++++++++++++++++++++++++++++++++++ |
835 | // +++++++++++++++++++++++++++++++++++++++++++ |
835 | if(SystemTime.Valid) |
836 | if(SystemTime.Valid) |
836 | { |
837 | { |
837 | i += sprintf(&array[i], "%02d%02d%02d.%03d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
838 | i += sprintf(&array[i], "%02d%02d%02d.%03d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
838 | } |
839 | } |
839 | else |
840 | else |
840 | { |
841 | { |
841 | i += sprintf(&array[i], ","); |
842 | i += sprintf(&array[i], ","); |
842 | } |
843 | } |
843 | if(GPSData.Flags & FLAG_GPSFIXOK) |
844 | if(GPSData.Flags & FLAG_GPSFIXOK) |
844 | { |
845 | { |
845 | // +++++++++++++++++++++++++++++++++++++++++++ |
846 | // +++++++++++++++++++++++++++++++++++++++++++ |
846 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
847 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
847 | i += sprintf(&array[i],"A,%02d", (s16)tmp1); // Status: A = Okay V = Warnung |
848 | i += sprintf(&array[i],"A,%02d", (s16)tmp1); // Status: A = Okay V = Warnung |
848 | 849 | ||
849 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
850 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
850 | tmp1 *= 6; // in Minuten |
851 | tmp1 *= 6; // in Minuten |
851 | tmp2 = tmp1 / 1000000L; |
852 | tmp2 = tmp1 / 1000000L; |
852 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
853 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
853 | tmp2 = tmp1 % 1000000L; |
854 | tmp2 = tmp1 % 1000000L; |
854 | tmp2 /= 100; // zwei Stellen zu viel |
855 | tmp2 /= 100; // zwei Stellen zu viel |
855 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
856 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
856 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
857 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
857 | else i += sprintf(&array[i],"S,"); |
858 | else i += sprintf(&array[i],"S,"); |
858 | // +++++++++++++++++++++++++++++++++++++++++++ |
859 | // +++++++++++++++++++++++++++++++++++++++++++ |
859 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
860 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
860 | i += sprintf(&array[i],"%03d", (s16)tmp1); |
861 | i += sprintf(&array[i],"%03d", (s16)tmp1); |
861 | 862 | ||
862 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
863 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
863 | tmp1 *= 6; // in Minuten |
864 | tmp1 *= 6; // in Minuten |
864 | tmp2 = tmp1 / 1000000L; |
865 | tmp2 = tmp1 / 1000000L; |
865 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
866 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
866 | tmp2 = tmp1 % 1000000L; |
867 | tmp2 = tmp1 % 1000000L; |
867 | tmp2 /= 100; // zwei Stellen zu viel |
868 | tmp2 /= 100; // zwei Stellen zu viel |
868 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
869 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
869 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
870 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
870 | else i += sprintf(&array[i],"W,"); |
871 | else i += sprintf(&array[i],"W,"); |
871 | // +++++++++++++++++++++++++++++++++++++++++++ |
872 | // +++++++++++++++++++++++++++++++++++++++++++ |
872 | tmp_int = GPSData.Speed_Ground; // in cm/sek |
873 | tmp_int = GPSData.Speed_Ground; // in cm/sek |
873 | tmp_int *= 90; |
874 | tmp_int *= 90; |
874 | tmp_int /= 463; |
875 | tmp_int /= 463; |
875 | i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten |
876 | i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten |
876 | // +++++++++++++++++++++++++++++++++++++++++++ |
877 | // +++++++++++++++++++++++++++++++++++++++++++ |
877 | i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10); |
878 | i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10); |
878 | // +++++++++++++++++++++++++++++++++++++++++++ |
879 | // +++++++++++++++++++++++++++++++++++++++++++ |
879 | if(SystemTime.Valid) |
880 | if(SystemTime.Valid) |
880 | { |
881 | { |
881 | i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year); |
882 | i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year); |
882 | } |
883 | } |
883 | else |
884 | else |
884 | { |
885 | { |
885 | i += sprintf(&array[i], ","); |
886 | i += sprintf(&array[i], ","); |
886 | } |
887 | } |
887 | // +++++++++++++++++++++++++++++++++++++++++++ |
888 | // +++++++++++++++++++++++++++++++++++++++++++ |
888 | i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
889 | i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
889 | if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,"); |
890 | if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,"); |
890 | // +++++++++++++++++++++++++++++++++++++++++++ |
891 | // +++++++++++++++++++++++++++++++++++++++++++ |
891 | if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D*"); |
892 | if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D*"); |
892 | else i += sprintf(&array[i], "A*"); |
893 | else i += sprintf(&array[i], "A*"); |
893 | } |
894 | } |
894 | else // kein Satfix |
895 | else // kein Satfix |
895 | { |
896 | { |
896 | i += sprintf(&array[i], "V,,,,,,,,,,N*"); |
897 | i += sprintf(&array[i], "V,,,,,,,,,,N*"); |
897 | } |
898 | } |
898 | // +++++++++++++++++++++++++++++++++++++++++++ |
899 | // +++++++++++++++++++++++++++++++++++++++++++ |
899 | // CRC |
900 | // CRC |
900 | // +++++++++++++++++++++++++++++++++++++++++++ |
901 | // +++++++++++++++++++++++++++++++++++++++++++ |
901 | for(x=1; x<i-1; x++) |
902 | for(x=1; x<i-1; x++) |
902 | { |
903 | { |
903 | crc ^= array[x]; |
904 | crc ^= array[x]; |
904 | } |
905 | } |
905 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
906 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
906 | // +++++++++++++++++++++++++++++++++++++++++++ |
907 | // +++++++++++++++++++++++++++++++++++++++++++ |
907 | AddSerialData(&UART1_tx_buffer,array,i); |
908 | AddSerialData(&UART1_tx_buffer,array,i); |
908 | // +++++++++++++++++++++++++++++++++++++++++++ |
909 | // +++++++++++++++++++++++++++++++++++++++++++ |
909 | /* |
910 | /* |
910 | 911 | ||
911 | 912 | ||
912 | 913 | ||
913 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
914 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
914 | GPSData.NumOfSats = UbxSol.numSV; |
915 | GPSData.NumOfSats = UbxSol.numSV; |
915 | GPSData.SatFix = UbxSol.GPSfix; |
916 | GPSData.SatFix = UbxSol.GPSfix; |
916 | GPSData.Position_Accuracy = UbxSol.PAcc; |
917 | GPSData.Position_Accuracy = UbxSol.PAcc; |
917 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
918 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
918 | SetGPSTime(&SystemTime); // update system time |
919 | SetGPSTime(&SystemTime); // update system time |
919 | // NAV POSLLH |
920 | // NAV POSLLH |
920 | GPSData.Position.Status = INVALID; |
921 | GPSData.Position.Status = INVALID; |
921 | GPSData.Position.Longitude = UbxPosLlh.LON; |
922 | GPSData.Position.Longitude = UbxPosLlh.LON; |
922 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
923 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
923 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
924 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
924 | GPSData.Position.Status = NEWDATA; |
925 | GPSData.Position.Status = NEWDATA; |
925 | // NAV VELNED |
926 | // NAV VELNED |
926 | GPSData.Speed_East = UbxVelNed.VEL_E; |
927 | GPSData.Speed_East = UbxVelNed.VEL_E; |
927 | GPSData.Speed_North = UbxVelNed.VEL_N; |
928 | GPSData.Speed_North = UbxVelNed.VEL_N; |
928 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
929 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
929 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
930 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
930 | GPSData.Heading = UbxVelNed.Heading; |
931 | GPSData.Heading = UbxVelNed.Heading; |
931 | SystemTime.Year = 0; |
932 | SystemTime.Year = 0; |
932 | SystemTime.Month = 0; |
933 | SystemTime.Month = 0; |
933 | SystemTime.Day = 0; |
934 | SystemTime.Day = 0; |
934 | SystemTime.Hour = 0; |
935 | SystemTime.Hour = 0; |
935 | SystemTime.Min = 0; |
936 | SystemTime.Min = 0; |
936 | SystemTime.Sec = 0; |
937 | SystemTime.Sec = 0; |
937 | SystemTime.mSec = 0; |
938 | SystemTime.mSec = 0; |
938 | SystemTime.Valid = 0; |
939 | SystemTime.Valid = 0; |
939 | 940 | ||
940 | FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2; |
941 | FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2; |
941 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
942 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
942 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
943 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
943 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
944 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
944 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
945 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
945 | 946 | ||
946 | 947 | ||
947 | 948 | ||
948 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
949 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
949 | i1 *= 100; |
950 | i1 *= 100; |
950 | i1 += i2 / 100000; |
951 | i1 += i2 / 100000; |
951 | i2 = i2 % 100000; |
952 | i2 = i2 % 100000; |
952 | i2 /= 10; |
953 | i2 /= 10; |
953 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
954 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
954 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
955 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
955 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
956 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
956 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
957 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
957 | break; |
958 | break; |
958 | case 1: |
959 | case 1: |
959 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
960 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
960 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
961 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
961 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
962 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
962 | //----------------------------- |
963 | //----------------------------- |
963 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
964 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
964 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
965 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
965 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
966 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
966 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
967 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
967 | 968 | ||
968 | */ |
969 | */ |
969 | } |
970 | } |
970 | 971 | ||
971 | u16 SendTriggerPos(void) |
972 | u16 SendTriggerPos(void) |
972 | { |
973 | { |
973 | u16 sent = 0; |
974 | u16 sent = 0; |
974 | NaviData_Out1Trigger.Index = 18; |
975 | NaviData_Out1Trigger.Index = 18; |
975 | sent = MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Out1Trigger, sizeof(NaviData_Out1Trigger)) + 1; |
976 | sent = MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Out1Trigger, sizeof(NaviData_Out1Trigger)) + 1; |
976 | Out1TriggerUpdateNewData = 0; |
977 | Out1TriggerUpdateNewData = 0; |
977 | // BeepTime = 50; // beep |
978 | // BeepTime = 50; // beep |
978 | return(sent); |
979 | return(sent); |
979 | } |
980 | } |
980 | 981 | ||
981 | 982 | ||
982 | u16 TransmitNavigationData(u16 MaxBytesPerSecond, u8 clear) // returns the minumum pause time in ms |
983 | u16 TransmitNavigationData(u16 MaxBytesPerSecond, u8 clear) // returns the minumum pause time in ms |
983 | { |
984 | { |
984 | static u8 state = 0, count_flags = 2, count_target = 3, count_home = 4, count_wp = 5 , count_tiny = 6, count_fs = 7; |
985 | static u8 state = 0, count_flags = 2, count_target = 3, count_home = 4, count_wp = 5 , count_tiny = 6, count_fs = 7; |
985 | static u16 CRC_Home = 0, CRC_Target = 0, CRC_Flags = 0, CRC_Wp = 0, CRC_Fs = 0; |
986 | static u16 CRC_Home = 0, CRC_Target = 0, CRC_Flags = 0, CRC_Wp = 0, CRC_Fs = 0; |
986 | u16 pause, sent = 0, crc_home, crc_target, crc_flags, crc_wp, crc_fs; |
987 | u16 pause, sent = 0, crc_home, crc_target, crc_flags, crc_wp, crc_fs; |
987 | 988 | ||
988 | if(clear) |
989 | if(clear) |
989 | { |
990 | { |
990 | state = 0; |
991 | state = 0; |
991 | CRC_Home++; |
992 | CRC_Home++; |
992 | CRC_Target++; |
993 | CRC_Target++; |
993 | CRC_Flags++; |
994 | CRC_Flags++; |
994 | CRC_Wp++; |
995 | CRC_Wp++; |
995 | CRC_Fs++; |
996 | CRC_Fs++; |
- | 997 | NaviData_Flags_SpeakHoTT_Processed = 1; // allow update in SPI now |
|
996 | return(1); |
998 | return(1); |
997 | } |
999 | } |
998 | while(!sent) |
1000 | while(!sent) |
999 | { |
1001 | { |
1000 | // if(Out1TriggerUpdateNewData && MaxBytesPerSecond > 200) // (only if the data link can transmit more than 200Bytes per secons) -> it wouldn't fit into the data-flow if there are too few bytes available |
1002 | // if(Out1TriggerUpdateNewData && MaxBytesPerSecond > 200) // (only if the data link can transmit more than 200Bytes per secons) -> it wouldn't fit into the data-flow if there are too few bytes available |
1001 | // sent += SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
1003 | // sent += SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
1002 | 1004 | ||
1003 | switch(state++) |
1005 | switch(state++) |
1004 | { |
1006 | { |
1005 | case 0: |
1007 | case 0: |
1006 | case 6: |
1008 | case 6: |
1007 | case 5: |
1009 | case 5: |
1008 | // belegt 35 ASCII-Zeichen |
1010 | // belegt 35 ASCII-Zeichen |
1009 | NaviData_Flags.Index = 11; |
1011 | NaviData_Flags.Index = 11; |
1010 | NaviData_Flags.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1012 | NaviData_Flags.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1011 | NaviData_Flags.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1013 | NaviData_Flags.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1012 | NaviData_Flags.Altimeter = NaviData.Altimeter; |
1014 | NaviData_Flags.Altimeter = NaviData.Altimeter; |
1013 | NaviData_Flags.GroundSpeed = NaviData.GroundSpeed / 10; |
1015 | NaviData_Flags.GroundSpeed = NaviData.GroundSpeed / 10; |
1014 | NaviData_Flags.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1016 | NaviData_Flags.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1015 | NaviData_Flags.OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2); |
1017 | NaviData_Flags.OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2); |
1016 | NaviData_Flags.NCFlags = NaviData.NCFlags; |
1018 | NaviData_Flags.NCFlags = NaviData.NCFlags; |
1017 | NaviData_Flags.Errorcode = ErrorCode; |
1019 | NaviData_Flags.Errorcode = ErrorCode; |
1018 | NaviData_Flags.ReserveFlags = 0; |
1020 | NaviData_Flags.ReserveFlags = 0; |
1019 | //NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; -> in SPI.c |
1021 | //NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; -> in SPI.c |
1020 | NaviData_Flags.VarioCharacter = FromFC_VarioCharacter; |
1022 | NaviData_Flags.VarioCharacter = FromFC_VarioCharacter; |
1021 | NaviData_Flags.GPS_ModeCharacter = NC_GPS_ModeCharacter; |
1023 | NaviData_Flags.GPS_ModeCharacter = NC_GPS_ModeCharacter; |
1022 | NaviData_Flags.BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
1024 | NaviData_Flags.BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
1023 | crc_flags = CRC16((unsigned char*)(&NaviData_Flags.OSDStatusFlags2), sizeof(NaviData_Flags) - START_PAYLOAD_DATA); // update crc for the license structure |
1025 | crc_flags = CRC16((unsigned char*)(&NaviData_Flags.OSDStatusFlags2), sizeof(NaviData_Flags) - START_PAYLOAD_DATA); // update crc for the license structure |
1024 | if((crc_flags != CRC_Flags) || (--count_flags == 0)) |
1026 | if((crc_flags != CRC_Flags) || (--count_flags == 0)) |
1025 | { |
1027 | { |
1026 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Flags, sizeof(NaviData_Flags)) + 1; |
1028 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Flags, sizeof(NaviData_Flags)) + 1; |
1027 | CRC_Flags = crc_flags; |
1029 | CRC_Flags = crc_flags; |
1028 | count_flags = 11*2; |
1030 | count_flags = 11*2; |
1029 | } |
1031 | } |
1030 | NaviData_Flags.SpeakHoTT = 0; |
1032 | NaviData_Flags_SpeakHoTT_Processed = 1; // allow update in SPI now |
1031 | break; |
1033 | break; |
1032 | case 1: |
1034 | case 1: |
1033 | case 7: |
1035 | case 7: |
1034 | // belegt 43 ASCII-Zeichen |
1036 | // belegt 43 ASCII-Zeichen |
1035 | NaviData_Target.Index = 12; |
1037 | NaviData_Target.Index = 12; |
1036 | NaviData_Target.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1038 | NaviData_Target.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1037 | NaviData_Target.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1039 | NaviData_Target.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1038 | NaviData_Target.Altimeter = NaviData.Altimeter; |
1040 | NaviData_Target.Altimeter = NaviData.Altimeter; |
1039 | NaviData_Target.GroundSpeed = NaviData.GroundSpeed / 10; |
1041 | NaviData_Target.GroundSpeed = NaviData.GroundSpeed / 10; |
1040 | NaviData_Target.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1042 | NaviData_Target.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1041 | NaviData_Target.TargetLongitude = NaviData.TargetPosition.Longitude; |
1043 | NaviData_Target.TargetLongitude = NaviData.TargetPosition.Longitude; |
1042 | NaviData_Target.TargetLatitude = NaviData.TargetPosition.Latitude; |
1044 | NaviData_Target.TargetLatitude = NaviData.TargetPosition.Latitude; |
1043 | NaviData_Target.TargetAltitude = NaviData.TargetPosition.Altitude; |
1045 | NaviData_Target.TargetAltitude = NaviData.TargetPosition.Altitude; |
1044 | NaviData_Target.RC_Quality = NaviData.RC_Quality; |
1046 | NaviData_Target.RC_Quality = NaviData.RC_Quality; |
1045 | crc_target = CRC16((unsigned char*)(&NaviData_Target.TargetLongitude), sizeof(NaviData_Target) - START_PAYLOAD_DATA); // update crc for the license structure |
1047 | crc_target = CRC16((unsigned char*)(&NaviData_Target.TargetLongitude), sizeof(NaviData_Target) - START_PAYLOAD_DATA); // update crc for the license structure |
1046 | if((crc_target != CRC_Target) || (--count_target == 0)) |
1048 | if((crc_target != CRC_Target) || (--count_target == 0)) |
1047 | { |
1049 | { |
1048 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Target, sizeof(NaviData_Target)) + 1; |
1050 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Target, sizeof(NaviData_Target)) + 1; |
1049 | CRC_Target = crc_target; |
1051 | CRC_Target = crc_target; |
1050 | count_target = 10*2; |
1052 | count_target = 10*2; |
1051 | } |
1053 | } |
1052 | break; |
1054 | break; |
1053 | case 2: |
1055 | case 2: |
1054 | case 8: |
1056 | case 8: |
1055 | // belegt 31 ASCII-Zeichen |
1057 | // belegt 31 ASCII-Zeichen |
1056 | NaviData_WP.Index = 15; |
1058 | NaviData_WP.Index = 15; |
1057 | NaviData_WP.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1059 | NaviData_WP.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1058 | NaviData_WP.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1060 | NaviData_WP.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1059 | NaviData_WP.Altimeter = NaviData.Altimeter; |
1061 | NaviData_WP.Altimeter = NaviData.Altimeter; |
1060 | NaviData_WP.GroundSpeed = NaviData.GroundSpeed / 10; |
1062 | NaviData_WP.GroundSpeed = NaviData.GroundSpeed / 10; |
1061 | NaviData_WP.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1063 | NaviData_WP.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1062 | NaviData_WP.WaypointIndex = NaviData.WaypointIndex; |
1064 | NaviData_WP.WaypointIndex = NaviData.WaypointIndex; |
1063 | NaviData_WP.WaypointNumber = NaviData.WaypointNumber; |
1065 | NaviData_WP.WaypointNumber = NaviData.WaypointNumber; |
1064 | NaviData_WP.TargetHoldTime = NaviData.TargetHoldTime; |
1066 | NaviData_WP.TargetHoldTime = NaviData.TargetHoldTime; |
1065 | // NaviData_WP.WP_Eventchannel = FC_WP_EventChannel; -> happends already in SPI.c |
1067 | // NaviData_WP.WP_Eventchannel = FC_WP_EventChannel; -> happends already in SPI.c |
1066 | crc_wp = CRC16((unsigned char*)(&NaviData_WP.WaypointIndex), sizeof(NaviData_WP) - START_PAYLOAD_DATA); // update crc for the license structure |
1068 | crc_wp = CRC16((unsigned char*)(&NaviData_WP.WaypointIndex), sizeof(NaviData_WP) - START_PAYLOAD_DATA); // update crc for the license structure |
1067 | if((crc_wp != CRC_Wp) || (--count_wp == 0)) |
1069 | if((crc_wp != CRC_Wp) || (--count_wp == 0)) |
1068 | { |
1070 | { |
1069 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_WP, sizeof(NaviData_WP)) + 1; |
1071 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_WP, sizeof(NaviData_WP)) + 1; |
1070 | CRC_Wp = crc_wp; |
1072 | CRC_Wp = crc_wp; |
1071 | count_wp = 12*2; |
1073 | count_wp = 12*2; |
1072 | } |
1074 | } |
1073 | break; |
1075 | break; |
1074 | case 3: |
1076 | case 3: |
1075 | case 9: |
1077 | case 9: |
1076 | // 35 ASCII-Zeichen |
1078 | // 35 ASCII-Zeichen |
1077 | NaviData_Failsafe.Index = 17; |
1079 | NaviData_Failsafe.Index = 17; |
1078 | NaviData_Failsafe.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1080 | NaviData_Failsafe.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1079 | NaviData_Failsafe.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1081 | NaviData_Failsafe.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1080 | NaviData_Failsafe.Altimeter = NaviData.Altimeter; |
1082 | NaviData_Failsafe.Altimeter = NaviData.Altimeter; |
1081 | NaviData_Failsafe.GroundSpeed = NaviData.GroundSpeed / 10; |
1083 | NaviData_Failsafe.GroundSpeed = NaviData.GroundSpeed / 10; |
1082 | NaviData_Failsafe.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1084 | NaviData_Failsafe.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1083 | NaviData_Failsafe.Longitude = GPS_FailsafePosition.Longitude; |
1085 | NaviData_Failsafe.Longitude = GPS_FailsafePosition.Longitude; |
1084 | NaviData_Failsafe.Latitude = GPS_FailsafePosition.Latitude; |
1086 | NaviData_Failsafe.Latitude = GPS_FailsafePosition.Latitude; |
1085 | crc_fs = CRC16((unsigned char*)(&NaviData_Failsafe.Longitude), sizeof(NaviData_Pos_t) - START_PAYLOAD_DATA); // update crc for the license structure |
1087 | crc_fs = CRC16((unsigned char*)(&NaviData_Failsafe.Longitude), sizeof(NaviData_Pos_t) - START_PAYLOAD_DATA); // update crc for the license structure |
1086 | if((crc_fs != CRC_Fs) || (--count_fs == 0)) |
1088 | if((crc_fs != CRC_Fs) || (--count_fs == 0)) |
1087 | { |
1089 | { |
1088 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Failsafe, sizeof(NaviData_Failsafe)) + 1; |
1090 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Failsafe, sizeof(NaviData_Failsafe)) + 1; |
1089 | CRC_Fs = crc_fs; |
1091 | CRC_Fs = crc_fs; |
1090 | count_fs = 20*2; |
1092 | count_fs = 20*2; |
1091 | } |
1093 | } |
1092 | break; |
1094 | break; |
1093 | case 4: |
1095 | case 4: |
1094 | case 10: |
1096 | case 10: |
1095 | // belegt 43 ASCII-Zeichen |
1097 | // belegt 43 ASCII-Zeichen |
1096 | NaviData_Home.Index = 13; |
1098 | NaviData_Home.Index = 13; |
1097 | NaviData_Home.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1099 | NaviData_Home.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1098 | NaviData_Home.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1100 | NaviData_Home.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1099 | NaviData_Home.Altimeter = NaviData.Altimeter; |
1101 | NaviData_Home.Altimeter = NaviData.Altimeter; |
1100 | NaviData_Home.GroundSpeed = NaviData.GroundSpeed / 10; |
1102 | NaviData_Home.GroundSpeed = NaviData.GroundSpeed / 10; |
1101 | NaviData_Home.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1103 | NaviData_Home.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1102 | NaviData_Home.HomeLongitude = NaviData.HomePosition.Longitude; |
1104 | NaviData_Home.HomeLongitude = NaviData.HomePosition.Longitude; |
1103 | NaviData_Home.HomeLatitude = NaviData.HomePosition.Latitude; |
1105 | NaviData_Home.HomeLatitude = NaviData.HomePosition.Latitude; |
1104 | NaviData_Home.HomeAltitude = NaviData.HomePosition.Altitude; |
1106 | NaviData_Home.HomeAltitude = NaviData.HomePosition.Altitude; |
1105 | NaviData_Home.WP_OperatingRadius = MaxWP_Radius_in_m; |
1107 | NaviData_Home.WP_OperatingRadius = MaxWP_Radius_in_m; |
1106 | crc_home = CRC16((unsigned char*)(&NaviData_Home.HomeLongitude), sizeof(NaviData_Home_t) - START_PAYLOAD_DATA); // update crc for the license structure |
1108 | crc_home = CRC16((unsigned char*)(&NaviData_Home.HomeLongitude), sizeof(NaviData_Home_t) - START_PAYLOAD_DATA); // update crc for the license structure |
1107 | if((crc_home != CRC_Home) || (--count_home == 0)) |
1109 | if((crc_home != CRC_Home) || (--count_home == 0)) |
1108 | { |
1110 | { |
1109 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Home, sizeof(NaviData_Home)) + 1; |
1111 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Home, sizeof(NaviData_Home)) + 1; |
1110 | CRC_Home = crc_home; |
1112 | CRC_Home = crc_home; |
1111 | count_home = 25; |
1113 | count_home = 25; |
1112 | } |
1114 | } |
1113 | break; |
1115 | break; |
1114 | case 11: |
1116 | case 11: |
1115 | // belegt 39 ASCII-Zeichen |
1117 | // belegt 39 ASCII-Zeichen |
1116 | NaviData_Deviation.Index = 14; |
1118 | NaviData_Deviation.Index = 14; |
1117 | NaviData_Deviation.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1119 | NaviData_Deviation.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1118 | NaviData_Deviation.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1120 | NaviData_Deviation.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1119 | NaviData_Deviation.Altimeter = NaviData.Altimeter; |
1121 | NaviData_Deviation.Altimeter = NaviData.Altimeter; |
1120 | NaviData_Deviation.GroundSpeed = NaviData.GroundSpeed / 10; |
1122 | NaviData_Deviation.GroundSpeed = NaviData.GroundSpeed / 10; |
1121 | NaviData_Deviation.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1123 | NaviData_Deviation.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1122 | NaviData_Deviation.FlyingTime = NaviData.FlyingTime; |
1124 | NaviData_Deviation.FlyingTime = NaviData.FlyingTime; |
1123 | NaviData_Deviation.DistanceToHome = NaviData.HomePositionDeviation.Distance; |
1125 | NaviData_Deviation.DistanceToHome = NaviData.HomePositionDeviation.Distance; |
1124 | NaviData_Deviation.HeadingToHome = NaviData.HomePositionDeviation.Bearing/2; |
1126 | NaviData_Deviation.HeadingToHome = NaviData.HomePositionDeviation.Bearing/2; |
1125 | NaviData_Deviation.DistanceToTarget = NaviData.TargetPositionDeviation.Distance; |
1127 | NaviData_Deviation.DistanceToTarget = NaviData.TargetPositionDeviation.Distance; |
1126 | NaviData_Deviation.HeadingToTarget = NaviData.TargetPositionDeviation.Bearing/2; |
1128 | NaviData_Deviation.HeadingToTarget = NaviData.TargetPositionDeviation.Bearing/2; |
1127 | NaviData_Deviation.AngleNick = NaviData.AngleNick; |
1129 | NaviData_Deviation.AngleNick = NaviData.AngleNick; |
1128 | NaviData_Deviation.AngleRoll = NaviData.AngleRoll; |
1130 | NaviData_Deviation.AngleRoll = NaviData.AngleRoll; |
1129 | NaviData_Deviation.SatsInUse = NaviData.SatsInUse; |
1131 | NaviData_Deviation.SatsInUse = NaviData.SatsInUse; |
1130 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Deviation, sizeof(NaviData_Deviation)) + 1; |
1132 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Deviation, sizeof(NaviData_Deviation)) + 1; |
1131 | break; |
1133 | break; |
1132 | case 12: |
1134 | case 12: |
1133 | // belegt 43 ASCII-Zeichen |
1135 | // belegt 43 ASCII-Zeichen |
1134 | NaviData_Volatile.Index = 16; |
1136 | NaviData_Volatile.Index = 16; |
1135 | NaviData_Volatile.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1137 | NaviData_Volatile.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1136 | NaviData_Volatile.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1138 | NaviData_Volatile.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1137 | NaviData_Volatile.Altimeter = NaviData.Altimeter; |
1139 | NaviData_Volatile.Altimeter = NaviData.Altimeter; |
1138 | NaviData_Volatile.GroundSpeed = NaviData.GroundSpeed / 10; |
1140 | NaviData_Volatile.GroundSpeed = NaviData.GroundSpeed / 10; |
1139 | NaviData_Volatile.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1141 | NaviData_Volatile.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1140 | NaviData_Volatile.UBat = FC.BAT_Voltage; |
1142 | NaviData_Volatile.UBat = FC.BAT_Voltage; |
1141 | NaviData_Volatile.Current = NaviData.Current; |
1143 | NaviData_Volatile.Current = NaviData.Current; |
1142 | NaviData_Volatile.UsedCapacity = NaviData.UsedCapacity; |
1144 | NaviData_Volatile.UsedCapacity = NaviData.UsedCapacity; |
1143 | NaviData_Volatile.Variometer = NaviData.Variometer; |
1145 | NaviData_Volatile.Variometer = NaviData.Variometer; |
1144 | NaviData_Volatile.Heading = NaviData.Heading / 2; |
1146 | NaviData_Volatile.Heading = NaviData.Heading / 2; |
1145 | NaviData_Volatile.CompassHeading = NaviData.CompassHeading / 2; |
1147 | NaviData_Volatile.CompassHeading = NaviData.CompassHeading / 2; |
1146 | NaviData_Volatile.Gas = NaviData.Gas; |
1148 | NaviData_Volatile.Gas = NaviData.Gas; |
1147 | NaviData_Volatile.SetpointAltitude = NaviData.SetpointAltitude; |
1149 | NaviData_Volatile.SetpointAltitude = NaviData.SetpointAltitude; |
1148 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Volatile, sizeof(NaviData_Volatile)) + 1; |
1150 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Volatile, sizeof(NaviData_Volatile)) + 1; |
1149 | break; |
1151 | break; |
1150 | case 13: |
1152 | case 13: |
1151 | // belegt 27 ASCII-Zeichen |
1153 | // belegt 27 ASCII-Zeichen |
1152 | NaviData_Tiny.Index = 10; |
1154 | NaviData_Tiny.Index = 10; |
1153 | NaviData_Tiny.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1155 | NaviData_Tiny.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1154 | NaviData_Tiny.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1156 | NaviData_Tiny.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1155 | NaviData_Tiny.Altimeter = NaviData.Altimeter; |
1157 | NaviData_Tiny.Altimeter = NaviData.Altimeter; |
1156 | NaviData_Tiny.GroundSpeed = NaviData.GroundSpeed / 10; |
1158 | NaviData_Tiny.GroundSpeed = NaviData.GroundSpeed / 10; |
1157 | NaviData_Tiny.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1159 | NaviData_Tiny.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1158 | if(--count_tiny == 0) |
1160 | if(--count_tiny == 0) |
1159 | { |
1161 | { |
1160 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Tiny, sizeof(NaviData_Tiny)) + 1; |
1162 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Tiny, sizeof(NaviData_Tiny)) + 1; |
1161 | count_tiny = 200; // just to make sure that it comes sometimes |
1163 | count_tiny = 200; // just to make sure that it comes sometimes |
1162 | } |
1164 | } |
1163 | break; |
1165 | break; |
1164 | default: state = 0; |
1166 | default: state = 0; |
1165 | break; |
1167 | break; |
1166 | } |
1168 | } |
1167 | } |
1169 | } |
1168 | pause = (sent * 1000) / MaxBytesPerSecond; |
1170 | pause = (sent * 1000) / MaxBytesPerSecond; |
1169 | 1171 | ||
1170 | UART1_Request_NaviData = FALSE; |
1172 | UART1_Request_NaviData = FALSE; |
1171 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
1173 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
1172 | return(pause); |
1174 | return(pause); |
1173 | // Clear at timeout: |
1175 | // Clear at timeout: |
1174 | // NaviData_WP.WP_Eventchannel |
1176 | // NaviData_WP.WP_Eventchannel |
1175 | } |
1177 | } |
1176 | 1178 | ||
1177 | /**************************************************************/ |
1179 | /**************************************************************/ |
1178 | /* Send the answers to incomming commands at the debug uart */ |
1180 | /* Send the answers to incomming commands at the debug uart */ |
1179 | /**************************************************************/ |
1181 | /**************************************************************/ |
1180 | void UART1_TransmitTxData(void) |
1182 | void UART1_TransmitTxData(void) |
1181 | { |
1183 | { |
1182 | static u8 motorindex1 = 255, motorindex2 = 0; |
1184 | static u8 motorindex1 = 255, motorindex2 = 0; |
1183 | if(DebugUART != UART1) return; |
1185 | if(DebugUART != UART1) return; |
1184 | 1186 | ||
1185 | if(CheckDelay(UART1_AboTimeOut)) |
1187 | if(CheckDelay(UART1_AboTimeOut)) |
1186 | { |
1188 | { |
1187 | UART1_DebugData_Interval = 0; |
1189 | UART1_DebugData_Interval = 0; |
1188 | UART1_NaviData_Interval = 0; |
1190 | UART1_NaviData_Interval = 0; |
1189 | UART1_NaviData_MaxBytes = 0; |
1191 | UART1_NaviData_MaxBytes = 0; |
1190 | UART1_Data3D_Interval = 0; |
1192 | UART1_Data3D_Interval = 0; |
1191 | UART1_Display_Interval = 0; |
1193 | UART1_Display_Interval = 0; |
1192 | UART1_MotorData_Interval = 0; |
1194 | UART1_MotorData_Interval = 0; |
1193 | UART1_NaviData_Timer = SetDelay(500); |
1195 | UART1_NaviData_Timer = SetDelay(500); |
1194 | UART1_AboTimeOut = SetDelay(100); |
1196 | UART1_AboTimeOut = SetDelay(100); |
1195 | TransmitNavigationData(0,1); // clear the CRC values |
1197 | TransmitNavigationData(0,1); // clear the CRC values |
1196 | } |
1198 | } |
1197 | /* |
1199 | /* |
1198 | #define CHK_MIN_INTERVAL(a,b) {if(a && a < b) a = b;} |
1200 | #define CHK_MIN_INTERVAL(a,b) {if(a && a < b) a = b;} |
1199 | UART1_NaviData_Interval = 500; |
1201 | UART1_NaviData_Interval = 500; |
1200 | CHK_MIN_INTERVAL(UART1_DebugData_Interval,500); |
1202 | CHK_MIN_INTERVAL(UART1_DebugData_Interval,500); |
1201 | CHK_MIN_INTERVAL(UART1_NaviData_Interval,1000); |
1203 | CHK_MIN_INTERVAL(UART1_NaviData_Interval,1000); |
1202 | CHK_MIN_INTERVAL(UART1_Data3D_Interval,255); |
1204 | CHK_MIN_INTERVAL(UART1_Data3D_Interval,255); |
1203 | CHK_MIN_INTERVAL(UART1_Display_Interval,1500); |
1205 | CHK_MIN_INTERVAL(UART1_Display_Interval,1500); |
1204 | CHK_MIN_INTERVAL(UART1_MotorData_Interval,750); |
1206 | CHK_MIN_INTERVAL(UART1_MotorData_Interval,750); |
1205 | */ |
1207 | */ |
1206 | UART1_Transmit(); // output pending bytes in tx buffer |
1208 | UART1_Transmit(); // output pending bytes in tx buffer |
1207 | if((UART1_tx_buffer.Locked == TRUE)) return; |
1209 | if((UART1_tx_buffer.Locked == TRUE)) return; |
1208 | 1210 | ||
1209 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
1211 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
1210 | { |
1212 | { |
1211 | s16 ParamValue; |
1213 | s16 ParamValue; |
1212 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
1214 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
1213 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
1215 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
1214 | UART1_Request_Parameter = FALSE; |
1216 | UART1_Request_Parameter = FALSE; |
1215 | } |
1217 | } |
1216 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
1218 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
1217 | { |
1219 | { |
1218 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
1220 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
1219 | Echo = 0; // reset echo value |
1221 | Echo = 0; // reset echo value |
1220 | UART1_Request_Echo = FALSE; |
1222 | UART1_Request_Echo = FALSE; |
1221 | } |
1223 | } |
1222 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
1224 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
1223 | { |
1225 | { |
1224 | u8 errorcode = FTP_ERROR_NONE; |
1226 | u8 errorcode = FTP_ERROR_NONE; |
1225 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
1227 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
1226 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
1228 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
1227 | 1229 | ||
1228 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
1230 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
1229 | else |
1231 | else |
1230 | { |
1232 | { |
1231 | u8 cmd = FTP_CMD_ERROR; |
1233 | u8 cmd = FTP_CMD_ERROR; |
1232 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
1234 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
1233 | } |
1235 | } |
1234 | 1236 | ||
1235 | UART1_Request_FTP = FALSE; |
1237 | UART1_Request_FTP = FALSE; |
1236 | } |
1238 | } |
1237 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
1239 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
1238 | { |
1240 | { |
1239 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
1241 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
1240 | UART1_Request_WritePoint = 0xFF; |
1242 | UART1_Request_WritePoint = 0xFF; |
1241 | } |
1243 | } |
1242 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
1244 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
1243 | { |
1245 | { |
1244 | u8 PointCount = PointList_GetCount(); |
1246 | u8 PointCount = PointList_GetCount(); |
1245 | if (UART1_Request_ReadPoint <= PointCount) |
1247 | if (UART1_Request_ReadPoint <= PointCount) |
1246 | { |
1248 | { |
1247 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
1249 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
1248 | } |
1250 | } |
1249 | else |
1251 | else |
1250 | { |
1252 | { |
1251 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
1253 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
1252 | } |
1254 | } |
1253 | UART1_Request_ReadPoint = 0; |
1255 | UART1_Request_ReadPoint = 0; |
1254 | } |
1256 | } |
1255 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
1257 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
1256 | { |
1258 | { |
1257 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
1259 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
1258 | UART1_Request_DebugLabel = 0xFF; |
1260 | UART1_Request_DebugLabel = 0xFF; |
1259 | } |
1261 | } |
1260 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1262 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1261 | { |
1263 | { |
1262 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
1264 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
1263 | UART1_ExternalControlConfirmFrame = 0; |
1265 | UART1_ExternalControlConfirmFrame = 0; |
1264 | } |
1266 | } |
1265 | else |
1267 | else |
1266 | if((UART1_NaviData_Interval > 0) && Out1TriggerUpdateNewData && UART1_NaviData_MaxBytes > 200) // (only if the data link can transmit more than 200Bytes per secons) -> it wouldn't fit into the data-flow if there are too few bytes available |
1268 | if((UART1_NaviData_Interval > 0) && Out1TriggerUpdateNewData && UART1_NaviData_MaxBytes > 200) // (only if the data link can transmit more than 200Bytes per secons) -> it wouldn't fit into the data-flow if there are too few bytes available |
1267 | { |
1269 | { |
1268 | //sent += |
1270 | //sent += |
1269 | SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
1271 | SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
1270 | } |
1272 | } |
1271 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
1273 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
1272 | { |
1274 | { |
1273 | u16 time = 0; |
1275 | u16 time = 0; |
1274 | //UART1_NaviData_MaxBytes = 250; |
1276 | //UART1_NaviData_MaxBytes = 250; |
1275 | if(UART1_NaviData_MaxBytes == 0) // Transmit the big NC Data frame |
1277 | if(UART1_NaviData_MaxBytes == 0) // Transmit the big NC Data frame |
1276 | { |
1278 | { |
1277 | NaviData.Errorcode = ErrorCode; |
1279 | NaviData.Errorcode = ErrorCode; |
1278 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
1280 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
1279 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
1281 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
1280 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
1282 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
1281 | } |
1283 | } |
1282 | else |
1284 | else |
1283 | if(CheckDelay(UART1_NaviData_Timer)) |
1285 | if(CheckDelay(UART1_NaviData_Timer)) |
1284 | { |
1286 | { |
1285 | // Wert = 50 -> Sekunden laufen in 2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 3-4s) |
1287 | // Wert = 50 -> Sekunden laufen in 2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 3-4s) |
1286 | // Wert = 100 -> Sekunden laufen in 1-2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 2s) |
1288 | // Wert = 100 -> Sekunden laufen in 1-2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 2s) |
1287 | // Wert = 150 -> Sekunden laufen flüssig (im Wegpunkteflug mit aktivem Countdown und gleichzeitig Target verschieben manchmal in 2s) |
1289 | // Wert = 150 -> Sekunden laufen flüssig (im Wegpunkteflug mit aktivem Countdown und gleichzeitig Target verschieben manchmal in 2s) |
1288 | // Wert = 200 -> Sekunden laufen flüssig |
1290 | // Wert = 200 -> Sekunden laufen flüssig |
1289 | // Wert >= 250 -> optimal |
1291 | // Wert >= 250 -> optimal |
1290 | //UART1_NaviData_MaxBytes = 45; |
1292 | //UART1_NaviData_MaxBytes = 45; |
1291 | time = TransmitNavigationData(UART1_NaviData_MaxBytes,0); |
1293 | time = TransmitNavigationData(UART1_NaviData_MaxBytes,0); |
1292 | if(UART1_NaviData_Interval > time) time = UART1_NaviData_Interval; |
1294 | if(UART1_NaviData_Interval > time) time = UART1_NaviData_Interval; |
1293 | UART1_NaviData_Timer = SetDelay(time); |
1295 | UART1_NaviData_Timer = SetDelay(time); |
1294 | } |
1296 | } |
1295 | UART1_Request_NaviData = FALSE; |
1297 | UART1_Request_NaviData = FALSE; |
1296 | } |
1298 | } |
1297 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
1299 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
1298 | { |
1300 | { |
1299 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
1301 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
1300 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
1302 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
1301 | UART1_Request_DebugData = FALSE; |
1303 | UART1_Request_DebugData = FALSE; |
1302 | } |
1304 | } |
1303 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
1305 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
1304 | { |
1306 | { |
1305 | Data3D.StickNick = FC.StickNick; |
1307 | Data3D.StickNick = FC.StickNick; |
1306 | Data3D.StickRoll = FC.StickRoll; |
1308 | Data3D.StickRoll = FC.StickRoll; |
1307 | Data3D.StickYaw = FC.StickYaw; |
1309 | Data3D.StickYaw = FC.StickYaw; |
1308 | Data3D.StickGas = FC.StickGas; |
1310 | Data3D.StickGas = FC.StickGas; |
1309 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
1311 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
1310 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
1312 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
1311 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
1313 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
1312 | Data3D.Altimeter = FC.Altimeter; // in 5cm -> 20 = 1m |
1314 | Data3D.Altimeter = FC.Altimeter; // in 5cm -> 20 = 1m |
1313 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
1315 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
1314 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
1316 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
1315 | UART1_Request_Data3D = FALSE; |
1317 | UART1_Request_Data3D = FALSE; |
1316 | } |
1318 | } |
1317 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
1319 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
1318 | { |
1320 | { |
1319 | do |
1321 | do |
1320 | { |
1322 | { |
1321 | motorindex1++; |
1323 | motorindex1++; |
1322 | motorindex1%=12; |
1324 | motorindex1%=12; |
1323 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
1325 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
1324 | if(motorindex1 == motorindex2) break; |
1326 | if(motorindex1 == motorindex2) break; |
1325 | } |
1327 | } |
1326 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
1328 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
1327 | 1329 | ||
1328 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
1330 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
1329 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
1331 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
1330 | UART1_Request_MotorData = FALSE; |
1332 | UART1_Request_MotorData = FALSE; |
1331 | } |
1333 | } |
1332 | else if(UART1_Request_WPLStore) |
1334 | else if(UART1_Request_WPLStore) |
1333 | { |
1335 | { |
1334 | /* |
1336 | /* |
1335 | s8 txt[50]; |
1337 | s8 txt[50]; |
1336 | sprintf(txt, "\r\nWPL Overwride = %d, Type = %d, Index = %d, Status = %d\r\n", WPL_Store.OverwriteFile, WPL_Store.Type, WPL_Answer.Index, WPL_Answer.Status); |
1338 | sprintf(txt, "\r\nWPL Overwride = %d, Type = %d, Index = %d, Status = %d\r\n", WPL_Store.OverwriteFile, WPL_Store.Type, WPL_Answer.Index, WPL_Answer.Status); |
1337 | UART1_PutString(txt); |
1339 | UART1_PutString(txt); |
1338 | */ |
1340 | */ |
1339 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'I', NC_ADDRESS, 1,(u8 *)&(WPL_Answer), sizeof(WPL_Answer_t)); |
1341 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'I', NC_ADDRESS, 1,(u8 *)&(WPL_Answer), sizeof(WPL_Answer_t)); |
1340 | UART1_Request_WPLStore = FALSE; |
1342 | UART1_Request_WPLStore = FALSE; |
1341 | } |
1343 | } |
1342 | else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE)) |
1344 | else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE)) |
1343 | { |
1345 | { |
1344 | CreateNmeaGGA(); |
1346 | CreateNmeaGGA(); |
1345 | Send_NMEA_RMC = TRUE; // das muss noch da hinter |
1347 | Send_NMEA_RMC = TRUE; // das muss noch da hinter |
1346 | NMEA_Timer = SetDelay(NMEA_Interval); |
1348 | NMEA_Timer = SetDelay(NMEA_Interval); |
1347 | } |
1349 | } |
1348 | else if(Send_NMEA_RMC == TRUE && (UART1_tx_buffer.Locked == FALSE)) |
1350 | else if(Send_NMEA_RMC == TRUE && (UART1_tx_buffer.Locked == FALSE)) |
1349 | { |
1351 | { |
1350 | CreateNmeaRMC(); |
1352 | CreateNmeaRMC(); |
1351 | Send_NMEA_RMC = FALSE; |
1353 | Send_NMEA_RMC = FALSE; |
1352 | } |
1354 | } |
1353 | 1355 | ||
1354 | /* |
1356 | /* |
1355 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1357 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1356 | { |
1358 | { |
1357 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
1359 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
1358 | UART1_ConfirmFrame = 0; |
1360 | UART1_ConfirmFrame = 0; |
1359 | } |
1361 | } |
1360 | */ |
1362 | */ |
1361 | /* |
1363 | /* |
1362 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
1364 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
1363 | { |
1365 | { |
1364 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
1366 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
1365 | UART1_Request_ExternalControl = FALSE; |
1367 | UART1_Request_ExternalControl = FALSE; |
1366 | } |
1368 | } |
1367 | */ |
1369 | */ |
1368 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
1370 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
1369 | { |
1371 | { |
1370 | if(UART1_DisplayLine > 3) |
1372 | if(UART1_DisplayLine > 3) |
1371 | { |
1373 | { |
1372 | Menu_Update(UART1_DisplayKeys); |
1374 | Menu_Update(UART1_DisplayKeys); |
1373 | UART1_DisplayKeys = 0; |
1375 | UART1_DisplayKeys = 0; |
1374 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
1376 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
1375 | } |
1377 | } |
1376 | else |
1378 | else |
1377 | { |
1379 | { |
1378 | UART1_DisplayLine = 2; |
1380 | UART1_DisplayLine = 2; |
1379 | sprintf(text,"!!! incompatible !!!"); |
1381 | sprintf(text,"!!! incompatible !!!"); |
1380 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
1382 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
1381 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
1383 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
1382 | } |
1384 | } |
1383 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
1385 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
1384 | UART1_Request_Display = FALSE; |
1386 | UART1_Request_Display = FALSE; |
1385 | } |
1387 | } |
1386 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
1388 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
1387 | { |
1389 | { |
1388 | Menu_Update(0); |
1390 | Menu_Update(0); |
1389 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
1391 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
1390 | UART1_Request_Display1 = FALSE; |
1392 | UART1_Request_Display1 = FALSE; |
1391 | } |
1393 | } |
1392 | else if(UART1_Request_VersionInfo == 1 && (UART1_tx_buffer.Locked == FALSE)) // get FC-Versions |
1394 | else if(UART1_Request_VersionInfo == 1 && (UART1_tx_buffer.Locked == FALSE)) // get FC-Versions |
1393 | { |
1395 | { |
1394 | UART_VersionInfo_t version_tmp; |
1396 | UART_VersionInfo_t version_tmp; |
1395 | version_tmp.SWMajor = FC_Version.Major; |
1397 | version_tmp.SWMajor = FC_Version.Major; |
1396 | version_tmp.SWMinor = FC_Version.Minor; |
1398 | version_tmp.SWMinor = FC_Version.Minor; |
1397 | version_tmp.SWPatch = FC_Version.Patch; |
1399 | version_tmp.SWPatch = FC_Version.Patch; |
1398 | version_tmp.HWMajor = FC_Version.Hardware; |
1400 | version_tmp.HWMajor = FC_Version.Hardware; |
1399 | version_tmp.HardwareError[0] = 0xff; // tells the KopterTool that it is the FC-version |
1401 | version_tmp.HardwareError[0] = 0xff; // tells the KopterTool that it is the FC-version |
1400 | version_tmp.HardwareError[1] = 0xff; // tells the KopterTool that it is the FC-version |
1402 | version_tmp.HardwareError[1] = 0xff; // tells the KopterTool that it is the FC-version |
1401 | version_tmp.ProtoMajor = UART_VersionInfo.ProtoMajor; |
1403 | version_tmp.ProtoMajor = UART_VersionInfo.ProtoMajor; |
1402 | version_tmp.BL_Firmware = UART_VersionInfo.BL_Firmware; |
1404 | version_tmp.BL_Firmware = UART_VersionInfo.BL_Firmware; |
1403 | version_tmp.Flags = 0; |
1405 | version_tmp.Flags = 0; |
1404 | version_tmp.LabelTextCRC = 0;//UART_VersionInfo.DebugTextCRC; |
1406 | version_tmp.LabelTextCRC = 0;//UART_VersionInfo.DebugTextCRC; |
1405 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&version_tmp, sizeof(version_tmp)); |
1407 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&version_tmp, sizeof(version_tmp)); |
1406 | UART1_Request_VersionInfo = FALSE; |
1408 | UART1_Request_VersionInfo = FALSE; |
1407 | } |
1409 | } |
1408 | else if(UART1_Request_VersionInfo == 2 && (UART1_tx_buffer.Locked == FALSE)) // get NC-Versions |
1410 | else if(UART1_Request_VersionInfo == 2 && (UART1_tx_buffer.Locked == FALSE)) // get NC-Versions |
1409 | { |
1411 | { |
1410 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
1412 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
1411 | UART1_Request_VersionInfo = FALSE; |
1413 | UART1_Request_VersionInfo = FALSE; |
1412 | } |
1414 | } |
1413 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
1415 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
1414 | { |
1416 | { |
1415 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
1417 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
1416 | UART1_Request_SystemTime = FALSE; |
1418 | UART1_Request_SystemTime = FALSE; |
1417 | } |
1419 | } |
1418 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
1420 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
1419 | { |
1421 | { |
1420 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
1422 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
1421 | UART1_Request_ErrorMessage = FALSE; |
1423 | UART1_Request_ErrorMessage = FALSE; |
1422 | } |
1424 | } |
1423 | else if(UART1_Request_LicenseString && (UART1_tx_buffer.Locked == FALSE)) |
1425 | else if(UART1_Request_LicenseString && (UART1_tx_buffer.Locked == FALSE)) |
1424 | { |
1426 | { |
1425 | u8 result = 1, cmd = 0; |
1427 | u8 result = 1, cmd = 0; |
1426 | if(UART1_Request_LicenseString == LIC_CMD_READ_LICENSE) |
1428 | if(UART1_Request_LicenseString == LIC_CMD_READ_LICENSE) |
1427 | { |
1429 | { |
1428 | result = LIC_CMD_READ_LICENSE; |
1430 | result = LIC_CMD_READ_LICENSE; |
1429 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &result, 1, LicensePtr, LICENSE_SIZE); |
1431 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &result, 1, LicensePtr, LICENSE_SIZE); |
1430 | } |
1432 | } |
1431 | else |
1433 | else |
1432 | if((UART1_Request_LicenseString == LIC_CMD_ERASE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
1434 | if((UART1_Request_LicenseString == LIC_CMD_ERASE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
1433 | { |
1435 | { |
1434 | result = LIC_CMD_ERASE_LICENSE; |
1436 | result = LIC_CMD_ERASE_LICENSE; |
1435 | DeleteLicenseInEEPROM(); |
1437 | DeleteLicenseInEEPROM(); |
1436 | CheckLicense(GET_LICENSE); |
1438 | CheckLicense(GET_LICENSE); |
1437 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 1, &result, 1); |
1439 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 1, &result, 1); |
1438 | } |
1440 | } |
1439 | else |
1441 | else |
1440 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
1442 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
1441 | { |
1443 | { |
1442 | cmd = LIC_CMD_WRITE_LICENSE; |
1444 | cmd = LIC_CMD_WRITE_LICENSE; |
1443 | if(CheckLicense(CHECK_ONLY)) //new license is okay |
1445 | if(CheckLicense(CHECK_ONLY)) //new license is okay |
1444 | { |
1446 | { |
1445 | WriteLicenseToEEPROM(EEPROM_LICENSE_DATA_KOMPATIBEL); |
1447 | WriteLicenseToEEPROM(EEPROM_LICENSE_DATA_KOMPATIBEL); |
1446 | result = 1; |
1448 | result = 1; |
1447 | } |
1449 | } |
1448 | else //new license is NOT okay |
1450 | else //new license is NOT okay |
1449 | { |
1451 | { |
1450 | ClearLicenseText(); |
1452 | ClearLicenseText(); |
1451 | result = 0; |
1453 | result = 0; |
1452 | CheckLicense(GET_LICENSE); // fetch a license if available |
1454 | CheckLicense(GET_LICENSE); // fetch a license if available |
1453 | } |
1455 | } |
1454 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &cmd, 1,&result, 1 ); |
1456 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &cmd, 1,&result, 1 ); |
1455 | } |
1457 | } |
1456 | UART1_Request_LicenseString = 0; |
1458 | UART1_Request_LicenseString = 0; |
1457 | } |
1459 | } |
1458 | #ifdef FOLLOW_ME |
1460 | #ifdef FOLLOW_ME |
1459 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
1461 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
1460 | { |
1462 | { |
1461 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
1463 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
1462 | { |
1464 | { |
1463 | TransmitAlsoToFC = 1; |
1465 | TransmitAlsoToFC = 1; |
1464 | // update FollowMe content |
1466 | // update FollowMe content |
1465 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
1467 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
1466 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
1468 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
1467 | FollowMe.Position.Status = NEWDATA; |
1469 | FollowMe.Position.Status = NEWDATA; |
1468 | FollowMe.Position.Altitude = 1; |
1470 | FollowMe.Position.Altitude = 1; |
1469 | // 0 -> no Orientation |
1471 | // 0 -> no Orientation |
1470 | // 1-360 -> CompassCourse Setpoint |
1472 | // 1-360 -> CompassCourse Setpoint |
1471 | // -1 -> points to WP1 -> itself |
1473 | // -1 -> points to WP1 -> itself |
1472 | FollowMe.Heading = -1; |
1474 | FollowMe.Heading = -1; |
1473 | FollowMe.ToleranceRadius = 1; |
1475 | FollowMe.ToleranceRadius = 1; |
1474 | FollowMe.HoldTime = 60; |
1476 | FollowMe.HoldTime = 60; |
1475 | FollowMe.Event_Flag = 1; |
1477 | FollowMe.Event_Flag = 1; |
1476 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
1478 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
1477 | FollowMe.Type = POINT_TYPE_WP; |
1479 | FollowMe.Type = POINT_TYPE_WP; |
1478 | FollowMe.WP_EventChannelValue = 100; // set servo value |
1480 | FollowMe.WP_EventChannelValue = 100; // set servo value |
1479 | FollowMe.AltitudeRate = 0; // do not change height |
1481 | FollowMe.AltitudeRate = 0; // do not change height |
1480 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
1482 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
1481 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
1483 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
1482 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
1484 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
1483 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
1485 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
1484 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
1486 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
1485 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
1487 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
1486 | FollowMe.reserve[0] = 0; // reserve |
1488 | FollowMe.reserve[0] = 0; // reserve |
1487 | FollowMe.reserve[1] = 0; // reserve |
1489 | FollowMe.reserve[1] = 0; // reserve |
1488 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
1490 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
1489 | } |
1491 | } |
1490 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
1492 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
1491 | } |
1493 | } |
1492 | #endif |
1494 | #endif |
1493 | #ifdef DEBUG // only include functions if DEBUG is defined |
1495 | #ifdef DEBUG // only include functions if DEBUG is defined |
1494 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
1496 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
1495 | { |
1497 | { |
1496 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
1498 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
1497 | SendDebugOutput = 0; |
1499 | SendDebugOutput = 0; |
1498 | } |
1500 | } |
1499 | #endif |
1501 | #endif |
1500 | UART1_Transmit(); // output pending bytes in tx buffer |
1502 | UART1_Transmit(); // output pending bytes in tx buffer |
1501 | } |
1503 | } |
1502 | 1504 | ||
1503 | 1505 |