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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + with our written permission |
40 | // + with our written permission |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
44 | // |
44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | #include <stdio.h> |
57 | #include <stdio.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 | 79 | ||
80 | #define FALSE 0 |
80 | #define FALSE 0 |
81 | #define TRUE 1 |
81 | #define TRUE 1 |
82 | 82 | ||
83 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
83 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
84 | u32 UART1_AboTimeOut = 0; |
84 | u32 UART1_AboTimeOut = 0; |
85 | 85 | ||
86 | u8 UART1_Request_VersionInfo = FALSE; |
86 | u8 UART1_Request_VersionInfo = FALSE; |
87 | u8 UART1_Request_ExternalControl= FALSE; |
87 | u8 UART1_Request_ExternalControl= FALSE; |
88 | u8 UART1_Request_Display = FALSE; |
88 | u8 UART1_Request_Display = FALSE; |
89 | u8 UART1_Request_Display1 = FALSE; |
89 | u8 UART1_Request_Display1 = FALSE; |
90 | u8 UART1_Request_DebugData = FALSE; |
90 | u8 UART1_Request_DebugData = FALSE; |
91 | u8 UART1_Request_DebugLabel = 255; |
91 | u8 UART1_Request_DebugLabel = 255; |
92 | u8 UART1_Request_NaviData = FALSE; |
92 | u8 UART1_Request_NaviData = FALSE; |
93 | u8 UART1_Request_ErrorMessage = FALSE; |
93 | u8 UART1_Request_ErrorMessage = FALSE; |
94 | u8 UART1_Request_NewWaypoint = FALSE; |
94 | u8 UART1_Request_NewWaypoint = FALSE; |
95 | u8 UART1_Request_ReadWaypoint = 0; |
95 | u8 UART1_Request_ReadWaypoint = 0; |
96 | u8 UART1_Request_Data3D = FALSE; |
96 | u8 UART1_Request_Data3D = FALSE; |
97 | u8 UART1_Request_Echo = FALSE; |
97 | u8 UART1_Request_Echo = FALSE; |
98 | u8 UART1_Request_ParameterId = 0; |
98 | u8 UART1_Request_ParameterId = 0; |
99 | u8 UART1_Request_Parameter = FALSE; |
99 | u8 UART1_Request_Parameter = FALSE; |
100 | u8 UART1_DisplayKeys = 0; |
100 | u8 UART1_DisplayKeys = 0; |
101 | u8 UART1_DisplayLine = 0; |
101 | u8 UART1_DisplayLine = 0; |
102 | u8 UART1_ConfirmFrame = 0; |
102 | u8 UART1_ConfirmFrame = 0; |
103 | 103 | ||
104 | UART_TypeDef *DebugUART = UART1; |
104 | UART_TypeDef *DebugUART = UART1; |
105 | 105 | ||
106 | // the primary rx fifo |
106 | // the primary rx fifo |
107 | #define UART1_RX_FIFO_LEN 512 |
107 | #define UART1_RX_FIFO_LEN 512 |
108 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
108 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
109 | fifo_t UART1_rx_fifo; |
109 | fifo_t UART1_rx_fifo; |
110 | 110 | ||
111 | // the rx buffer |
111 | // the rx buffer |
112 | #define UART1_RX_BUFFER_LEN 150 |
112 | #define UART1_RX_BUFFER_LEN 150 |
113 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
113 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
114 | Buffer_t UART1_rx_buffer; |
114 | Buffer_t UART1_rx_buffer; |
115 | 115 | ||
116 | // the tx buffer |
116 | // the tx buffer |
117 | #define UART1_TX_BUFFER_LEN 150 |
117 | #define UART1_TX_BUFFER_LEN 150 |
118 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
118 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
119 | Buffer_t UART1_tx_buffer; |
119 | Buffer_t UART1_tx_buffer; |
120 | 120 | ||
121 | 121 | ||
122 | 122 | ||
123 | volatile u8 SerialLinkOkay = 0; |
123 | volatile u8 SerialLinkOkay = 0; |
124 | 124 | ||
125 | u8 text[200]; |
125 | u8 text[200]; |
126 | 126 | ||
127 | const u8 ANALOG_LABEL[32][16] = |
127 | const u8 ANALOG_LABEL[32][16] = |
128 | { |
128 | { |
129 | //1234567890123456 |
129 | //1234567890123456 |
130 | "AngleNick ", //0 |
130 | "AngleNick ", //0 |
131 | "AngleRoll ", |
131 | "AngleRoll ", |
132 | "AccNick ", |
132 | "AccNick ", |
133 | "AccRoll ", |
133 | "AccRoll ", |
134 | "OperatingRadius ", |
134 | "OperatingRadius ", |
135 | "FC-Flags ", //5 |
135 | "FC-Flags ", //5 |
136 | "NC-Flags ", |
136 | "NC-Flags ", |
137 | "NickServo ", |
137 | "NickServo ", |
138 | "RollServo ", |
138 | "RollServo ", |
139 | "GPS Data ", |
139 | "GPS Data ", |
140 | "CompassHeading ", //10 |
140 | "CompassHeading ", //10 |
141 | "GyroHeading ", |
141 | "GyroHeading ", |
142 | "SPI Error ", |
142 | "SPI Error ", |
143 | "SPI Okay ", |
143 | "SPI Okay ", |
144 | "I2C Error ", |
144 | "I2C Error ", |
145 | "I2C Okay ", //15 |
145 | "I2C Okay ", //15 |
146 | " ",// "Kalman_K ", |
146 | " ",// "Kalman_K ", |
147 | "ACC_Speed_N ", |
147 | "ACC_Speed_N ", |
148 | "ACC_Speed_E ", |
148 | "ACC_Speed_E ", |
149 | "Speed_z ",// "GPS ACC ", |
149 | "Speed_z ",// "GPS ACC ", |
150 | " ",// "MAXDrift ", //20 |
150 | " ",// "MAXDrift ", //20 |
151 | "N_Speed ", |
151 | "N_Speed ", |
152 | "E_Speed ", |
152 | "E_Speed ", |
153 | " ", |
153 | " ", |
154 | " ", |
154 | " ", |
155 | " ",//25 |
155 | " ",//25 |
156 | " ", |
156 | " ", |
157 | "Distance N ", |
157 | "Distance N ", |
158 | "Distance E ", |
158 | "Distance E ", |
159 | "GPS_Nick ", |
159 | "GPS_Nick ", |
160 | "GPS_Roll ", //30 |
160 | "GPS_Roll ", //30 |
161 | "Used_Sats " |
161 | "Used_Sats " |
162 | }; |
162 | }; |
163 | 163 | ||
164 | DebugOut_t DebugOut; |
164 | DebugOut_t DebugOut; |
165 | ExternControl_t ExternControl; |
165 | ExternControl_t ExternControl; |
166 | UART_VersionInfo_t UART_VersionInfo; |
166 | UART_VersionInfo_t UART_VersionInfo; |
167 | NaviData_t NaviData; |
167 | NaviData_t NaviData; |
168 | Data3D_t Data3D; |
168 | Data3D_t Data3D; |
169 | u16 Echo; // 2 bytes recieved will be sent back as echo |
169 | u16 Echo; // 2 bytes recieved will be sent back as echo |
170 | 170 | ||
171 | u32 UART1_DebugData_Timer = 0; |
171 | u32 UART1_DebugData_Timer = 0; |
172 | u32 UART1_DebugData_Interval = 0; // in ms |
172 | u32 UART1_DebugData_Interval = 0; // in ms |
173 | u32 UART1_NaviData_Timer = 0; |
173 | u32 UART1_NaviData_Timer = 0; |
174 | u32 UART1_NaviData_Interval = 0; // in ms |
174 | u32 UART1_NaviData_Interval = 0; // in ms |
175 | u32 UART1_Data3D_Timer = 0; |
175 | u32 UART1_Data3D_Timer = 0; |
176 | u32 UART1_Data3D_Interval = 0; // in ms |
176 | u32 UART1_Data3D_Interval = 0; // in ms |
177 | u32 UART1_Display_Timer = 0; |
177 | u32 UART1_Display_Timer = 0; |
178 | u32 UART1_Display_Interval = 0; // in ms |
178 | u32 UART1_Display_Interval = 0; // in ms |
179 | 179 | ||
180 | /********************************************************/ |
180 | /********************************************************/ |
181 | /* Initialization the UART1 */ |
181 | /* Initialization the UART1 */ |
182 | /********************************************************/ |
182 | /********************************************************/ |
183 | void UART1_Init (void) |
183 | void UART1_Init (void) |
184 | { |
184 | { |
185 | GPIO_InitTypeDef GPIO_InitStructure; |
185 | GPIO_InitTypeDef GPIO_InitStructure; |
186 | UART_InitTypeDef UART_InitStructure; |
186 | UART_InitTypeDef UART_InitStructure; |
187 | 187 | ||
188 | // initialize txd buffer |
188 | // initialize txd buffer |
189 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
189 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
190 | 190 | ||
191 | // initialize rxd buffer |
191 | // initialize rxd buffer |
192 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
192 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
193 | 193 | ||
194 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
194 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
195 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
195 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
196 | 196 | ||
197 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
197 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
198 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
198 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
199 | 199 | ||
200 | /*Configure UART1_Rx pin GPIO3.2*/ |
200 | /*Configure UART1_Rx pin GPIO3.2*/ |
201 | GPIO_StructInit(&GPIO_InitStructure); |
201 | GPIO_StructInit(&GPIO_InitStructure); |
202 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
202 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
203 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
203 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
204 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
204 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
205 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
205 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
206 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
206 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
207 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
207 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
208 | 208 | ||
209 | /*Configure UART1_Tx pin GPIO3.3*/ |
209 | /*Configure UART1_Tx pin GPIO3.3*/ |
210 | GPIO_StructInit(&GPIO_InitStructure); |
210 | GPIO_StructInit(&GPIO_InitStructure); |
211 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
211 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
212 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
212 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
213 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
213 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
214 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
214 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
215 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
215 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
216 | 216 | ||
217 | /* UART1 configured as follow: |
217 | /* UART1 configured as follow: |
218 | - Word Length = 8 Bits |
218 | - Word Length = 8 Bits |
219 | - One Stop Bit |
219 | - One Stop Bit |
220 | - No parity |
220 | - No parity |
221 | - BaudRate = 57600 baud |
221 | - BaudRate = 57600 baud |
222 | - Hardware flow control Disabled |
222 | - Hardware flow control Disabled |
223 | - Receive and transmit enabled |
223 | - Receive and transmit enabled |
224 | - Receive and transmit FIFOs are Disabled |
224 | - Receive and transmit FIFOs are Disabled |
225 | */ |
225 | */ |
226 | UART_StructInit(&UART_InitStructure); |
226 | UART_StructInit(&UART_InitStructure); |
227 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
227 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
228 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
228 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
229 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
229 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
230 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
230 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
231 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
231 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
232 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
232 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
233 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
233 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
234 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
234 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
235 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
235 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
236 | 236 | ||
237 | UART_DeInit(UART1); // reset uart 1 to default |
237 | UART_DeInit(UART1); // reset uart 1 to default |
238 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
238 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
239 | // enable uart 1 interrupts selective |
239 | // enable uart 1 interrupts selective |
240 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
240 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
241 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
241 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
242 | // configure the uart 1 interupt line |
242 | // configure the uart 1 interupt line |
243 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
243 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
244 | // enable the uart 1 IRQ |
244 | // enable the uart 1 IRQ |
245 | VIC_ITCmd(UART1_ITLine, ENABLE); |
245 | VIC_ITCmd(UART1_ITLine, ENABLE); |
246 | 246 | ||
247 | // initialize the debug timer |
247 | // initialize the debug timer |
248 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
248 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
249 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
249 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
250 | 250 | ||
251 | // Fill Version Info Structure |
251 | // Fill Version Info Structure |
252 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
252 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
253 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
253 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
254 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
254 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
255 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
255 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
256 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
256 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
257 | 257 | ||
258 | NaviData.Version = NAVIDATA_VERSION; |
258 | NaviData.Version = NAVIDATA_VERSION; |
259 | 259 | ||
260 | UART1_PutString("\r\n UART1 init...ok"); |
260 | UART1_PutString("\r\n UART1 init...ok"); |
261 | } |
261 | } |
262 | 262 | ||
263 | 263 | ||
264 | /****************************************************************/ |
264 | /****************************************************************/ |
265 | /* USART1 receiver ISR */ |
265 | /* USART1 receiver ISR */ |
266 | /****************************************************************/ |
266 | /****************************************************************/ |
267 | void UART1_IRQHandler(void) |
267 | void UART1_IRQHandler(void) |
268 | { |
268 | { |
269 | static u8 abortState = 0; |
269 | static u8 abortState = 0; |
270 | u8 c; |
270 | u8 c; |
271 | 271 | ||
272 | IENABLE; |
272 | IENABLE; |
273 | 273 | ||
274 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
274 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
275 | { |
275 | { |
276 | // clear the pending bits! |
276 | // clear the pending bits! |
277 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
277 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
278 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
278 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
279 | // if debug UART is not UART1 |
279 | // if debug UART is not UART1 |
280 | if (DebugUART != UART1) |
280 | if (DebugUART != UART1) |
281 | { // forward received data to the debug UART tx buffer |
281 | { // forward received data to the debug UART tx buffer |
282 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
282 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
283 | { |
283 | { |
284 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
284 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
285 | c = UART_ReceiveData(UART1); |
285 | c = UART_ReceiveData(UART1); |
286 | 286 | ||
287 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
287 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
288 | switch (abortState) |
288 | switch (abortState) |
289 | { |
289 | { |
290 | case 0: |
290 | case 0: |
291 | if (c == 27) abortState++; |
291 | if (c == 27) abortState++; |
292 | break; |
292 | break; |
293 | case 1: |
293 | case 1: |
294 | if (c == 27) abortState++; |
294 | if (c == 27) abortState++; |
295 | else abortState = 0; |
295 | else abortState = 0; |
296 | break; |
296 | break; |
297 | case 2: |
297 | case 2: |
298 | if (c == 0x55) abortState++; |
298 | if (c == 0x55) abortState++; |
299 | else abortState = 0; |
299 | else abortState = 0; |
300 | break; |
300 | break; |
301 | case 3: |
301 | case 3: |
302 | if (c == 0xAA) abortState++; |
302 | if (c == 0xAA) abortState++; |
303 | else abortState = 0; |
303 | else abortState = 0; |
304 | break; |
304 | break; |
305 | case 4: |
305 | case 4: |
306 | if (c == 0x00) |
306 | if (c == 0x00) |
307 | { |
307 | { |
308 | if(DebugUART == UART0) |
308 | if(DebugUART == UART0) |
309 | { |
309 | { |
310 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
310 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
311 | TIMER2_Init(); // enbable servo outputs |
311 | TIMER2_Init(); // enbable servo outputs |
312 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
312 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
313 | } |
313 | } |
314 | DebugUART = UART1; |
314 | DebugUART = UART1; |
315 | } |
315 | } |
316 | abortState = 0; |
316 | abortState = 0; |
317 | break; |
317 | break; |
318 | } // end switch abort state |
318 | } // end switch abort state |
319 | // if the Debug uart is not UART1, redirect input to the Debug UART |
319 | // if the Debug uart is not UART1, redirect input to the Debug UART |
320 | if (DebugUART != UART1) |
320 | if (DebugUART != UART1) |
321 | { |
321 | { |
322 | // wait for space in the tx buffer of the DebugUART |
322 | // wait for space in the tx buffer of the DebugUART |
323 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
323 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
324 | // move byte to the tx fifo of the debug uart |
324 | // move byte to the tx fifo of the debug uart |
325 | UART_SendData(DebugUART, c); |
325 | UART_SendData(DebugUART, c); |
326 | } |
326 | } |
327 | } |
327 | } |
328 | } |
328 | } |
329 | else // DebugUART == UART1 (normal operation) |
329 | else // DebugUART == UART1 (normal operation) |
330 | { |
330 | { |
331 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
331 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
332 | { // some byes in the hardware fifo |
332 | { // some byes in the hardware fifo |
333 | // get byte from hardware fifo |
333 | // get byte from hardware fifo |
334 | c = UART_ReceiveData(UART1); |
334 | c = UART_ReceiveData(UART1); |
335 | // put into the software fifo |
335 | // put into the software fifo |
336 | if(!fifo_put(&UART1_rx_fifo, c)) |
336 | if(!fifo_put(&UART1_rx_fifo, c)) |
337 | { // fifo overflow |
337 | { // fifo overflow |
338 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
338 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
339 | } |
339 | } |
340 | } // EOF while some byes in the hardware fifo |
340 | } // EOF while some byes in the hardware fifo |
341 | } // eof DebugUart = UART1 |
341 | } // eof DebugUart = UART1 |
342 | } |
342 | } |
343 | 343 | ||
344 | IDISABLE; |
344 | IDISABLE; |
345 | } |
345 | } |
346 | 346 | ||
347 | /**************************************************************/ |
347 | /**************************************************************/ |
348 | /* Process incomming data from debug uart */ |
348 | /* Process incomming data from debug uart */ |
349 | /**************************************************************/ |
349 | /**************************************************************/ |
350 | void UART1_ProcessRxData(void) |
350 | void UART1_ProcessRxData(void) |
351 | { |
351 | { |
352 | // return on forwarding uart or unlocked rx buffer |
352 | // return on forwarding uart or unlocked rx buffer |
353 | if(DebugUART != UART1) return; |
353 | if(DebugUART != UART1) return; |
354 | 354 | ||
355 | u8 c; |
355 | u8 c; |
356 | // if rx buffer is not locked |
356 | // if rx buffer is not locked |
357 | if(UART1_rx_buffer.Locked == FALSE) |
357 | if(UART1_rx_buffer.Locked == FALSE) |
358 | { |
358 | { |
359 | //collect data from primary rx fifo |
359 | //collect data from primary rx fifo |
360 | while(fifo_get(&UART1_rx_fifo, &c)) |
360 | while(fifo_get(&UART1_rx_fifo, &c)) |
361 | { |
361 | { |
362 | // break if complete frame is collected |
362 | // break if complete frame is collected |
363 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
363 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
364 | } |
364 | } |
365 | } |
365 | } |
366 | if(UART1_rx_buffer.Locked == FALSE) return; |
366 | if(UART1_rx_buffer.Locked == FALSE) return; |
367 | 367 | ||
368 | Waypoint_t * pWaypoint = NULL; |
368 | Waypoint_t * pWaypoint = NULL; |
369 | SerialMsg_t SerialMsg; |
369 | SerialMsg_t SerialMsg; |
370 | 370 | ||
371 | // analyze header first |
371 | // analyze header first |
372 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
372 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
373 | if( SerialMsg.Address == FC_ADDRESS ) |
373 | if( SerialMsg.Address == FC_ADDRESS ) |
374 | { |
374 | { |
375 | switch(SerialMsg.CmdID) |
375 | switch(SerialMsg.CmdID) |
376 | { |
376 | { |
377 | // case 'v': // version |
377 | // case 'v': // version |
378 | case 'y': // serial poti values |
378 | case 'y': // serial poti values |
379 | case 'b': // extern control |
379 | case 'b': // extern control |
380 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
380 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
381 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
381 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
382 | return; //end process rx data |
382 | return; //end process rx data |
383 | break; |
383 | break; |
384 | } |
384 | } |
385 | } |
385 | } |
386 | 386 | ||
387 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
387 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
388 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
388 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
389 | switch(SerialMsg.Address) // check for Slave Address |
389 | switch(SerialMsg.Address) // check for Slave Address |
390 | { |
390 | { |
391 | case NC_ADDRESS: // own Slave Address |
391 | case NC_ADDRESS: // own Slave Address |
392 | switch(SerialMsg.CmdID) |
392 | switch(SerialMsg.CmdID) |
393 | { |
393 | { |
394 | case 'z': // connection checker |
394 | case 'z': // connection checker |
395 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
395 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
396 | UART1_Request_Echo = TRUE; |
396 | UART1_Request_Echo = TRUE; |
397 | break; |
397 | break; |
398 | 398 | ||
399 | case 'e': // request for the text of the error status |
399 | case 'e': // request for the text of the error status |
400 | UART1_Request_ErrorMessage = TRUE; |
400 | UART1_Request_ErrorMessage = TRUE; |
401 | break; |
401 | break; |
402 | 402 | ||
403 | case 's':// new target position |
403 | case 's':// new target position |
404 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
404 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
405 | BeepTime = 300; |
405 | BeepTime = 300; |
406 | if(pWaypoint->Position.Status == NEWDATA) |
406 | if(pWaypoint->Position.Status == NEWDATA) |
407 | { |
407 | { |
408 | WPList_Clear(); // empty WPList |
408 | WPList_Clear(); // empty WPList |
409 | WPList_Append(pWaypoint); |
409 | WPList_Append(pWaypoint); |
410 | GPS_pWaypoint = WPList_Begin(); |
410 | GPS_pWaypoint = WPList_Begin(); |
411 | } |
411 | } |
412 | break; |
412 | break; |
413 | 413 | ||
414 | case 'u': // redirect debug uart |
414 | case 'u': // redirect debug uart |
415 | switch(SerialMsg.pData[0]) |
415 | switch(SerialMsg.pData[0]) |
416 | { |
416 | { |
417 | case UART_FLIGHTCTRL: |
417 | case UART_FLIGHTCTRL: |
418 | UART2_Init(); // initialize UART2 to FC pins |
418 | UART2_Init(); // initialize UART2 to FC pins |
419 | fifo_purge(&UART1_rx_fifo); |
419 | fifo_purge(&UART1_rx_fifo); |
420 | TIMER2_Deinit(); // reduce irq load |
420 | TIMER2_Deinit(); // reduce irq load |
421 | DebugUART = UART2; |
421 | DebugUART = UART2; |
422 | break; |
422 | break; |
423 | case UART_MK3MAG: |
423 | case UART_MK3MAG: |
424 | if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running |
424 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
425 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
425 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
426 | GPSData.Status = INVALID; |
426 | GPSData.Status = INVALID; |
427 | fifo_purge(&UART1_rx_fifo); |
427 | fifo_purge(&UART1_rx_fifo); |
428 | DebugUART = UART0; |
428 | DebugUART = UART0; |
429 | break; |
429 | break; |
430 | case UART_MKGPS: |
430 | case UART_MKGPS: |
431 | if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running |
431 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
432 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
432 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
433 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
433 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
434 | GPSData.Status = INVALID; |
434 | GPSData.Status = INVALID; |
435 | fifo_purge(&UART1_rx_fifo); |
435 | fifo_purge(&UART1_rx_fifo); |
436 | DebugUART = UART0; |
436 | DebugUART = UART0; |
437 | break; |
437 | break; |
438 | default: |
438 | default: |
439 | break; |
439 | break; |
440 | } |
440 | } |
441 | break; |
441 | break; |
442 | 442 | ||
443 | case 'w':// Append Waypoint to List |
443 | case 'w':// Append Waypoint to List |
444 | { |
444 | { |
445 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
445 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
446 | //sprintf(text, "\r\nI=%d, S=%d,T=%d\r\n",pWaypoint->Index, pWaypoint->Position.Status, pWaypoint->Type); |
446 | //sprintf(text, "\r\nI=%d, S=%d,T=%d\r\n",pWaypoint->Index, pWaypoint->Position.Status, pWaypoint->Type); |
447 | //UART1_PutString(text); |
447 | //UART1_PutString(text); |
448 | 448 | ||
449 | if((pWaypoint->Position.Status == INVALID) && (pWaypoint->Index == 0)) |
449 | if((pWaypoint->Position.Status == INVALID) && (pWaypoint->Index == 0)) |
450 | { |
450 | { |
451 | WPList_Clear(); |
451 | WPList_Clear(); |
452 | GPS_pWaypoint = WPList_Begin(); |
452 | GPS_pWaypoint = WPList_Begin(); |
453 | UART1_Request_NewWaypoint = TRUE; // return new WP number |
453 | UART1_Request_NewWaypoint = TRUE; // return new WP number |
454 | } |
454 | } |
455 | else |
455 | else |
456 | { // app current WP to the list |
456 | { // app current WP to the list |
457 | if (pWaypoint->Index == (WPList_GetCount() + 1)) |
457 | if (pWaypoint->Index == (WPList_GetCount() + 1)) |
458 | { |
458 | { |
459 | WPList_Append(pWaypoint); |
459 | WPList_Append(pWaypoint); |
460 | BeepTime = 500; |
460 | BeepTime = 500; |
461 | UART1_Request_NewWaypoint = TRUE; // return new WP number |
461 | UART1_Request_NewWaypoint = TRUE; // return new WP number |
462 | } |
462 | } |
463 | } |
463 | } |
464 | } |
464 | } |
465 | break; |
465 | break; |
466 | 466 | ||
467 | case 'x':// Read Waypoint from List |
467 | case 'x':// Read Waypoint from List |
468 | UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
468 | UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
469 | break; |
469 | break; |
470 | 470 | ||
471 | case 'j':// Set/Get NC-Parameter |
471 | case 'j':// Set/Get NC-Parameter |
472 | switch(SerialMsg.pData[0]) |
472 | switch(SerialMsg.pData[0]) |
473 | { |
473 | { |
474 | case 0: // get |
474 | case 0: // get |
475 | break; |
475 | break; |
476 | 476 | ||
477 | case 1: // set |
477 | case 1: // set |
478 | { |
478 | { |
479 | s16 value; |
479 | s16 value; |
480 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
480 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
481 | NCParams_SetValue(SerialMsg.pData[1], &value); |
481 | NCParams_SetValue(SerialMsg.pData[1], &value); |
482 | } |
482 | } |
483 | break; |
483 | break; |
484 | 484 | ||
485 | default: |
485 | default: |
486 | break; |
486 | break; |
487 | } |
487 | } |
488 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
488 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
489 | UART1_Request_Parameter = TRUE; |
489 | UART1_Request_Parameter = TRUE; |
490 | break; |
490 | break; |
491 | default: |
491 | default: |
492 | // unsupported command recieved |
492 | // unsupported command recieved |
493 | break; |
493 | break; |
494 | } // case NC_ADDRESS |
494 | } // case NC_ADDRESS |
495 | // "break;" is missing here to fall thru to the common commands |
495 | // "break;" is missing here to fall thru to the common commands |
496 | 496 | ||
497 | default: // and any other Slave Address |
497 | default: // and any other Slave Address |
498 | 498 | ||
499 | switch(SerialMsg.CmdID) // check CmdID |
499 | switch(SerialMsg.CmdID) // check CmdID |
500 | { |
500 | { |
501 | case 'a':// request for the labels of the analog debug outputs |
501 | case 'a':// request for the labels of the analog debug outputs |
502 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
502 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
503 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
503 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
504 | break; |
504 | break; |
505 | /* |
505 | /* |
506 | case 'b': // submit extern control |
506 | case 'b': // submit extern control |
507 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
507 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
508 | UART1_ConfirmFrame = ExternControl.Frame; |
508 | UART1_ConfirmFrame = ExternControl.Frame; |
509 | break; |
509 | break; |
510 | */ |
510 | */ |
511 | case 'd': // request for debug data; |
511 | case 'd': // request for debug data; |
512 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
512 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
513 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
513 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
514 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
514 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
515 | break; |
515 | break; |
516 | 516 | ||
517 | case 'c': // request for 3D data; |
517 | case 'c': // request for 3D data; |
518 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
518 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
519 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
519 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
520 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
520 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
521 | break; |
521 | break; |
522 | /* |
522 | /* |
523 | case 'g':// request for external control data |
523 | case 'g':// request for external control data |
524 | UART1_Request_ExternalControl = TRUE; |
524 | UART1_Request_ExternalControl = TRUE; |
525 | break; |
525 | break; |
526 | */ |
526 | */ |
527 | case 'h':// reqest for display line |
527 | case 'h':// reqest for display line |
528 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
528 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
529 | { |
529 | { |
530 | UART1_DisplayLine = 2; |
530 | UART1_DisplayLine = 2; |
531 | UART1_Display_Interval = 0; |
531 | UART1_Display_Interval = 0; |
532 | } |
532 | } |
533 | else |
533 | else |
534 | { |
534 | { |
535 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
535 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
536 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
536 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
537 | UART1_DisplayLine = 4; |
537 | UART1_DisplayLine = 4; |
538 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
538 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
539 | } |
539 | } |
540 | UART1_Request_Display = TRUE; |
540 | UART1_Request_Display = TRUE; |
541 | break; |
541 | break; |
542 | 542 | ||
543 | case 'l':// reqest for display columns |
543 | case 'l':// reqest for display columns |
544 | MenuItem = SerialMsg.pData[0]; |
544 | MenuItem = SerialMsg.pData[0]; |
545 | UART1_Request_Display1 = TRUE; |
545 | UART1_Request_Display1 = TRUE; |
546 | break; |
546 | break; |
547 | 547 | ||
548 | case 'o': // request for navigation information |
548 | case 'o': // request for navigation information |
549 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
549 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
550 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
550 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
551 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
551 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
552 | break; |
552 | break; |
553 | 553 | ||
554 | case 'v': // request for version info |
554 | case 'v': // request for version info |
555 | UART1_Request_VersionInfo = TRUE; |
555 | UART1_Request_VersionInfo = TRUE; |
556 | break; |
556 | break; |
557 | default: |
557 | default: |
558 | // unsupported command recieved |
558 | // unsupported command recieved |
559 | break; |
559 | break; |
560 | } |
560 | } |
561 | break; // default: |
561 | break; // default: |
562 | } |
562 | } |
563 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
563 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
564 | } |
564 | } |
565 | 565 | ||
566 | 566 | ||
567 | /*****************************************************/ |
567 | /*****************************************************/ |
568 | /* Send a character */ |
568 | /* Send a character */ |
569 | /*****************************************************/ |
569 | /*****************************************************/ |
570 | s16 UART1_Putchar(char c) |
570 | s16 UART1_Putchar(char c) |
571 | { |
571 | { |
572 | if (c == '\n') UART1_Putchar('\r'); |
572 | if (c == '\n') UART1_Putchar('\r'); |
573 | // wait until txd fifo is not full |
573 | // wait until txd fifo is not full |
574 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
574 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
575 | // transmit byte |
575 | // transmit byte |
576 | UART_SendData(UART1, c); |
576 | UART_SendData(UART1, c); |
577 | return (0); |
577 | return (0); |
578 | } |
578 | } |
579 | 579 | ||
580 | /*****************************************************/ |
580 | /*****************************************************/ |
581 | /* Send a string to the debug uart */ |
581 | /* Send a string to the debug uart */ |
582 | /*****************************************************/ |
582 | /*****************************************************/ |
583 | void UART1_PutString(u8 *s) |
583 | void UART1_PutString(u8 *s) |
584 | { |
584 | { |
585 | if(s == NULL) return; |
585 | if(s == NULL) return; |
586 | while (*s != '\0' && DebugUART == UART1) |
586 | while (*s != '\0' && DebugUART == UART1) |
587 | { |
587 | { |
588 | UART1_Putchar(*s); |
588 | UART1_Putchar(*s); |
589 | s ++; |
589 | s ++; |
590 | } |
590 | } |
591 | } |
591 | } |
592 | 592 | ||
593 | 593 | ||
594 | /**************************************************************/ |
594 | /**************************************************************/ |
595 | /* Transmit tx buffer via debug uart */ |
595 | /* Transmit tx buffer via debug uart */ |
596 | /**************************************************************/ |
596 | /**************************************************************/ |
597 | void UART1_Transmit(void) |
597 | void UART1_Transmit(void) |
598 | { |
598 | { |
599 | u8 tmp_tx; |
599 | u8 tmp_tx; |
600 | if(DebugUART != UART1) return; |
600 | if(DebugUART != UART1) return; |
601 | // if something has to be send and the txd fifo is not full |
601 | // if something has to be send and the txd fifo is not full |
602 | if(UART1_tx_buffer.Locked == TRUE) |
602 | if(UART1_tx_buffer.Locked == TRUE) |
603 | { |
603 | { |
604 | // while there is some space in the tx fifo |
604 | // while there is some space in the tx fifo |
605 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
605 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
606 | { |
606 | { |
607 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
607 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
608 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
608 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
609 | // if terminating character or end of txd buffer reached |
609 | // if terminating character or end of txd buffer reached |
610 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
610 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
611 | { |
611 | { |
612 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
612 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
613 | break; // end while loop |
613 | break; // end while loop |
614 | } |
614 | } |
615 | } |
615 | } |
616 | } |
616 | } |
617 | } |
617 | } |
618 | 618 | ||
619 | /**************************************************************/ |
619 | /**************************************************************/ |
620 | /* Send the answers to incomming commands at the debug uart */ |
620 | /* Send the answers to incomming commands at the debug uart */ |
621 | /**************************************************************/ |
621 | /**************************************************************/ |
622 | void UART1_TransmitTxData(void) |
622 | void UART1_TransmitTxData(void) |
623 | { |
623 | { |
624 | if(DebugUART != UART1) return; |
624 | if(DebugUART != UART1) return; |
625 | 625 | ||
626 | if(CheckDelay(UART1_AboTimeOut)) |
626 | if(CheckDelay(UART1_AboTimeOut)) |
627 | { |
627 | { |
628 | UART1_DebugData_Interval = 0; |
628 | UART1_DebugData_Interval = 0; |
629 | UART1_NaviData_Interval = 0; |
629 | UART1_NaviData_Interval = 0; |
630 | UART1_Data3D_Interval = 0; |
630 | UART1_Data3D_Interval = 0; |
631 | UART1_Display_Interval = 0; |
631 | UART1_Display_Interval = 0; |
632 | } |
632 | } |
633 | 633 | ||
634 | UART1_Transmit(); // output pending bytes in tx buffer |
634 | UART1_Transmit(); // output pending bytes in tx buffer |
635 | if((UART1_tx_buffer.Locked == TRUE)) return; |
635 | if((UART1_tx_buffer.Locked == TRUE)) return; |
636 | 636 | ||
637 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
637 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
638 | { |
638 | { |
639 | s16 ParamValue; |
639 | s16 ParamValue; |
640 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
640 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
641 | //sprintf(text, "\r\nId=%d, value = %d\r\n", UART1_Request_ParameterId, ParamValue); |
641 | //sprintf(text, "\r\nId=%d, value = %d\r\n", UART1_Request_ParameterId, ParamValue); |
642 | //UART1_PutString(text); |
642 | //UART1_PutString(text); |
643 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
643 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
644 | UART1_Request_Parameter = FALSE; |
644 | UART1_Request_Parameter = FALSE; |
645 | } |
645 | } |
646 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
646 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
647 | { |
647 | { |
648 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
648 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
649 | Echo = 0; // reset echo value |
649 | Echo = 0; // reset echo value |
650 | UART1_Request_Echo = FALSE; |
650 | UART1_Request_Echo = FALSE; |
651 | } |
651 | } |
652 | else if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE)) |
652 | else if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE)) |
653 | { |
653 | { |
654 | u8 WPNumber = WPList_GetCount(); |
654 | u8 WPNumber = WPList_GetCount(); |
655 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
655 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
656 | UART1_Request_NewWaypoint = FALSE; |
656 | UART1_Request_NewWaypoint = FALSE; |
657 | } |
657 | } |
658 | else if((UART1_Request_ReadWaypoint) && (UART1_tx_buffer.Locked == FALSE)) |
658 | else if((UART1_Request_ReadWaypoint) && (UART1_tx_buffer.Locked == FALSE)) |
659 | { |
659 | { |
660 | u8 WPNumber = WPList_GetCount(); |
660 | u8 WPNumber = WPList_GetCount(); |
661 | if (UART1_Request_ReadWaypoint <= WPNumber) |
661 | if (UART1_Request_ReadWaypoint <= WPNumber) |
662 | { |
662 | { |
663 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &UART1_Request_ReadWaypoint, 1, WPList_GetAt(UART1_Request_ReadWaypoint), sizeof(Waypoint_t)); |
663 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &UART1_Request_ReadWaypoint, 1, WPList_GetAt(UART1_Request_ReadWaypoint), sizeof(Waypoint_t)); |
664 | } |
664 | } |
665 | else |
665 | else |
666 | { |
666 | { |
667 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
667 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
668 | } |
668 | } |
669 | UART1_Request_ReadWaypoint = 0; |
669 | UART1_Request_ReadWaypoint = 0; |
670 | } |
670 | } |
671 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
671 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
672 | { |
672 | { |
673 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
673 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
674 | UART1_Request_DebugLabel = 0xFF; |
674 | UART1_Request_DebugLabel = 0xFF; |
675 | } |
675 | } |
676 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
676 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
677 | { |
677 | { |
678 | NaviData.Errorcode = ErrorCode; |
678 | NaviData.Errorcode = ErrorCode; |
679 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
679 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
680 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
680 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
681 | UART1_Request_NaviData = FALSE; |
681 | UART1_Request_NaviData = FALSE; |
682 | } |
682 | } |
683 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
683 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
684 | { |
684 | { |
685 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
685 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
686 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
686 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
687 | UART1_Request_DebugData = FALSE; |
687 | UART1_Request_DebugData = FALSE; |
688 | } |
688 | } |
689 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
689 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
690 | { |
690 | { |
691 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
691 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
692 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
692 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
693 | UART1_Request_Data3D = FALSE; |
693 | UART1_Request_Data3D = FALSE; |
694 | } |
694 | } |
695 | /* |
695 | /* |
696 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
696 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
697 | { |
697 | { |
698 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
698 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
699 | UART1_ConfirmFrame = 0; |
699 | UART1_ConfirmFrame = 0; |
700 | } |
700 | } |
701 | */ |
701 | */ |
702 | /* |
702 | /* |
703 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
703 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
704 | { |
704 | { |
705 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
705 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
706 | UART1_Request_ExternalControl = FALSE; |
706 | UART1_Request_ExternalControl = FALSE; |
707 | } |
707 | } |
708 | */ |
708 | */ |
709 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
709 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
710 | { |
710 | { |
711 | if(UART1_DisplayLine > 3) |
711 | if(UART1_DisplayLine > 3) |
712 | { |
712 | { |
713 | Menu_Update(UART1_DisplayKeys); |
713 | Menu_Update(UART1_DisplayKeys); |
714 | UART1_DisplayKeys = 0; |
714 | UART1_DisplayKeys = 0; |
715 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
715 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
716 | } |
716 | } |
717 | else |
717 | else |
718 | { |
718 | { |
719 | UART1_DisplayLine = 2; |
719 | UART1_DisplayLine = 2; |
720 | sprintf(text,"!!! incompatible !!!"); |
720 | sprintf(text,"!!! incompatible !!!"); |
721 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
721 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
722 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
722 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
723 | } |
723 | } |
724 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
724 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
725 | UART1_Request_Display = FALSE; |
725 | UART1_Request_Display = FALSE; |
726 | } |
726 | } |
727 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
727 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
728 | { |
728 | { |
729 | Menu_Update(0); |
729 | Menu_Update(0); |
730 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
730 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
731 | UART1_Request_Display1 = FALSE; |
731 | UART1_Request_Display1 = FALSE; |
732 | } |
732 | } |
733 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
733 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
734 | { |
734 | { |
735 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
735 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
736 | UART1_Request_VersionInfo = FALSE; |
736 | UART1_Request_VersionInfo = FALSE; |
737 | } |
737 | } |
738 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
738 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
739 | { |
739 | { |
740 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
740 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
741 | UART1_Request_ErrorMessage = FALSE; |
741 | UART1_Request_ErrorMessage = FALSE; |
742 | } |
742 | } |
743 | #ifdef DEBUG // only include functions if DEBUG is defined |
743 | #ifdef DEBUG // only include functions if DEBUG is defined |
744 | if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
744 | if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
745 | { |
745 | { |
746 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
746 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
747 | SendDebugOutput = 0; |
747 | SendDebugOutput = 0; |
748 | } |
748 | } |
749 | #endif |
749 | #endif |
750 | 750 | ||
751 | UART1_Transmit(); // output pending bytes in tx buffer |
751 | UART1_Transmit(); // output pending bytes in tx buffer |
752 | } |
752 | } |
753 | 753 | ||
754 | 754 |