WebSVN - NaviCtrl - Diff - Rev 225 and 227


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
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// +     from this software without specific prior written permission.
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//
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#include <stdio.h>
#include <stdarg.h>
#include <string.h>
 
#include "91x_lib.h"
#include "config.h"
#include "menu.h"
#include "GPS.h"
#include "i2c.h"
#include "uart0.h"
#include "uart1.h"
#include "uart2.h"
#include "timer1.h"
#include "timer2.h"
#include "analog.h"
#include "main.h"
#include "waypoints.h"
#include "mkprotocol.h"
#include "params.h"
#include "fifo.h"
 
#define FALSE   0
#define TRUE    1
 
#define ABO_TIMEOUT 4000 // disable abo after 4 seconds
u32 UART1_AboTimeOut = 0;
 
u8 UART1_Request_VersionInfo    = FALSE;
u8 UART1_Request_ExternalControl= FALSE;
u8 UART1_Request_Display                = FALSE;
u8 UART1_Request_Display1               = FALSE;
u8 UART1_Request_DebugData              = FALSE;
u8 UART1_Request_DebugLabel             = 255;
u8 UART1_Request_NaviData               = FALSE;
u8 UART1_Request_ErrorMessage   = FALSE;
u8 UART1_Request_NewWaypoint    = FALSE;
u8 UART1_Request_ReadWaypoint   = 0;
u8 UART1_Request_Data3D             = FALSE;
u8 UART1_Request_Echo               = FALSE;
u8 UART1_Request_ParameterId    = 0;
u8 UART1_Request_Parameter              = FALSE;
u8 UART1_DisplayKeys                    = 0;
u8 UART1_DisplayLine                    = 0;
u8 UART1_ConfirmFrame                   = 0;
 
UART_TypeDef *DebugUART = UART1;
 
// the primary rx fifo
#define UART1_RX_FIFO_LEN 1024
u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN];
fifo_t UART1_rx_fifo;
 
// the rx buffer
#define UART1_RX_BUFFER_LEN  150
u8 UART1_rbuffer[UART1_RX_BUFFER_LEN];
Buffer_t UART1_rx_buffer;
 
// the tx buffer
#define UART1_TX_BUFFER_LEN  150
u8 UART1_tbuffer[UART1_TX_BUFFER_LEN];
Buffer_t UART1_tx_buffer;
 
 
 
volatile u8 SerialLinkOkay = 0;
 
u8 text[200];
 
const u8 ANALOG_LABEL[32][16] =
{
   //1234567890123456
        "AngleNick       ", //0
        "AngleRoll       ",
        "AccNick         ",
        "AccRoll         ",
        "OperatingRadius ",
        "FC-Flags        ", //5
        "NC-Flags        ",
        "NickServo       ",
        "RollServo       ",
        "GPS Data        ",
        "CompassHeading  ", //10
        "GyroHeading     ",
        "SPI Error       ",
        "SPI Okay        ",
        "I2C Error       ",
        "I2C Okay        ", //15
        "                ",//    "Kalman_K        ",
        "ACC_Speed_N     ",
        "ACC_Speed_E     ",
        "Speed_z         ",//    "GPS ACC         ",
        "                ",//    "MAXDrift        ", //20
        "N_Speed         ",
        "E_Speed         ",
        "P-Part          ",
        "I-Part          ",
        "D-Part          ",//25
        "PID-Part        ",
        "Distance N      ",
        "Distance E      ",
        "GPS_Nick        ",
        "GPS_Roll        ", //30
        "Used_Sats       "
};
 
DebugOut_t DebugOut;
ExternControl_t ExternControl;
UART_VersionInfo_t UART_VersionInfo;
NaviData_t NaviData;
Data3D_t Data3D;
u16 Echo; // 2 bytes recieved will be sent back as echo
 
u32 UART1_DebugData_Timer = 0;
u32 UART1_DebugData_Interval = 0;       // in ms
u32 UART1_NaviData_Timer = 0;
u32 UART1_NaviData_Interval = 0;        // in ms
u32 UART1_Data3D_Timer = 0;
u32 UART1_Data3D_Interval = 0;          // in ms
u32 UART1_Display_Timer = 0;
u32 UART1_Display_Interval = 0;         // in ms
 
/********************************************************/
/*            Initialization the UART1                  */
/********************************************************/
void UART1_Init (void)
{
        GPIO_InitTypeDef GPIO_InitStructure;
        UART_InitTypeDef UART_InitStructure;
 
        // initialize txd buffer
        Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN);
 
        // initialize rxd buffer
        Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN);
 
        // initialize the rx fifo
        fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN);
 
        SCU_APBPeriphClockConfig(__UART1, ENABLE);  // Enable the UART1 Clock
        SCU_APBPeriphClockConfig(__GPIO3, ENABLE);  // Enable the GPIO3 Clock
 
        /*Configure UART1_Rx pin GPIO3.2*/
        GPIO_StructInit(&GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;
        GPIO_InitStructure.GPIO_Pin =                   GPIO_Pin_2;
        GPIO_InitStructure.GPIO_Type =                  GPIO_Type_PushPull;
        GPIO_InitStructure.GPIO_IPInputConnected =      GPIO_IPInputConnected_Enable;
        GPIO_InitStructure.GPIO_Alternate =     GPIO_InputAlt1; // UART1_RxD
        GPIO_Init(GPIO3, &GPIO_InitStructure);
 
        /*Configure UART1_Tx pin GPIO3.3*/
        GPIO_StructInit(&GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Direction =     GPIO_PinOutput;
        GPIO_InitStructure.GPIO_Pin =                   GPIO_Pin_3;
        GPIO_InitStructure.GPIO_Type =                  GPIO_Type_PushPull;
        GPIO_InitStructure.GPIO_Alternate =     GPIO_OutputAlt2; // UART1_TX
        GPIO_Init(GPIO3, &GPIO_InitStructure);
 
        /* UART1 configured as follow:
        - Word Length = 8 Bits
        - One Stop Bit
        - No parity
        - BaudRate = 57600 baud
        - Hardware flow control Disabled
        - Receive and transmit enabled
        - Receive and transmit FIFOs are Disabled
        */
        UART_StructInit(&UART_InitStructure);
        UART_InitStructure.UART_WordLength =                    UART_WordLength_8D;
        UART_InitStructure.UART_StopBits =                              UART_StopBits_1;
        UART_InitStructure.UART_Parity =                                UART_Parity_No ;
        UART_InitStructure.UART_BaudRate =                              UART1_BAUD_RATE;
        UART_InitStructure. UART_HardwareFlowControl =  UART_HardwareFlowControl_None;
        UART_InitStructure.UART_Mode =                                  UART_Mode_Tx_Rx;
        UART_InitStructure.UART_FIFO =                                  UART_FIFO_Enable;
        UART_InitStructure.UART_TxFIFOLevel =                   UART_FIFOLevel_1_2;
        UART_InitStructure.UART_RxFIFOLevel =                   UART_FIFOLevel_1_2;
 
        UART_DeInit(UART1); // reset uart 1     to default
        UART_Init(UART1, &UART_InitStructure); // initialize uart 1
        // enable uart 1 interrupts selective
        UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE);
        UART_Cmd(UART1, ENABLE); // enable uart 1
        // configure the uart 1 interupt line
        VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1);
                // enable the uart 1 IRQ
        VIC_ITCmd(UART1_ITLine, ENABLE);
 
        // initialize the debug timer
        UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval);
        UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500;
 
        // Fill Version Info Structure
        UART_VersionInfo.SWMajor = VERSION_MAJOR;
        UART_VersionInfo.SWMinor = VERSION_MINOR;
        UART_VersionInfo.SWPatch = VERSION_PATCH;
        UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;
        UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;
 
        NaviData.Version = NAVIDATA_VERSION;
 
        UART1_PutString("\r\n UART1 init...ok");
}
 
 
/****************************************************************/
/*               USART1 receiver ISR                            */
/****************************************************************/
void UART1_IRQHandler(void)
{
        static u8 abortState = 0;
        u8 c;
 
        IENABLE;
 
        if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) )
        {
                // clear the pending bits!
                UART_ClearITPendingBit(UART1, UART_IT_Receive);
                UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut);
                // if debug UART is not UART1
                if (DebugUART != UART1)
                {       // forward received data to the debug UART tx buffer
                        while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)
                        {
                                // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART
                                c = UART_ReceiveData(UART1);
 
                                // check for abort condition (ESC ESC 0x55 0xAA 0x00)
                                switch (abortState)
                                {
                                        case 0:
                                                if (c == 27) abortState++;
                                                break;
                                        case 1:
                                                if (c == 27) abortState++;
                                                else abortState = 0;
                                        break;
                                        case 2:
                                                if (c == 0x55) abortState++;
                                                else abortState = 0;
                                                break;
                                        case 3:
                                                if (c == 0xAA) abortState++;
                                                else abortState = 0;
                                                break;
                                        case 4:
                                                if (c == 0x00)
                                                {
                                                        if(DebugUART == UART0)
                                                        {
                                                                UART0_Connect_to_MKGPS();
                                                                TIMER2_Init(); // enbable servo outputs
                                                                fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer
                                                        }
                                                        DebugUART = UART1;
                                                }
                                                abortState = 0;
                                                break;
                                } // end switch abort state
                                // if the Debug uart is not UART1, redirect input to the Debug UART
                                if (DebugUART != UART1)
                                {
                                        // wait for space in the tx buffer of the DebugUART
                                        while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {};
                                        // move byte to the tx fifo of the debug uart
                                        UART_SendData(DebugUART, c);
                                }
                        }
                }
                else  // DebugUART == UART1 (normal operation)
                {
                        while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)
                        { // some byes in the hardware fifo
                            // get byte from hardware fifo
                        c = UART_ReceiveData(UART1);
                                // put into the software fifo
                                if(!fifo_put(&UART1_rx_fifo, c))
                                {       // fifo overflow
                                        //fifo_purge(&UART1_rx_fifo); // flush the whole buffer
                                }
                        } // EOF while some byes in the hardware fifo
                } // eof DebugUart = UART1
        }
 
        IDISABLE;
}
 
/**************************************************************/
/* Process incomming data from debug uart                     */
/**************************************************************/
void UART1_ProcessRxData(void)
{
        // return on forwarding uart  or unlocked rx buffer
        if(DebugUART != UART1) return;
 
        u8 c;
        // if rx buffer is not locked
        if(UART1_rx_buffer.Locked == FALSE)
        {   //collect data from primary rx fifo
                while(fifo_get(&UART1_rx_fifo, &c))
                {       // break if complete frame is collected
                        if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break;
                }
        }
        if(UART1_rx_buffer.Locked == FALSE) return;
 
        Waypoint_t * pWaypoint = NULL;
        SerialMsg_t SerialMsg;
 
        // analyze header first
        MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg);
        if( SerialMsg.Address == FC_ADDRESS )
        {
                switch(SerialMsg.CmdID)
                {
                        case 'y': // serial poti values
                        case 'b': // extern control
                                Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC
                                Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame
                                return; //end process rx data
                        break;
                }
        }
 
        MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer
    if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250;      // reset SerialTimeout, but not in case of the "ping"
        switch(SerialMsg.Address) // check for Slave Address
        {
                case NC_ADDRESS:  // own Slave Address
                switch(SerialMsg.CmdID)
                {
                        case 'z': // connection checker
                                memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern
                                UART1_Request_Echo = TRUE;
                                break;
 
                        case 'e': // request for the text of the error status
                                UART1_Request_ErrorMessage = TRUE;
                                break;
 
                        case 's'://  new target position
                                pWaypoint = (Waypoint_t*)SerialMsg.pData;
                                BeepTime = 300;
                                if(pWaypoint->Position.Status == NEWDATA)
                                {
                                        WPList_Clear(); // empty WPList
                                        WPList_Append(pWaypoint);
                                        GPS_pWaypoint = WPList_Begin();
                                }
                                break;
 
                        case 'u': // redirect debug uart
                                switch(SerialMsg.pData[0])
                                {
                                        case UART_FLIGHTCTRL:
                                                UART2_Init();                           // initialize UART2 to FC pins
                                                fifo_purge(&UART1_rx_fifo);
                                                TIMER2_Deinit();                        // reduce irq load
                                                DebugUART = UART2;
                                                break;
                                        case UART_MK3MAG:
                                                if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running
                                                UART0_Connect_to_MK3MAG();      // mux UART0 to MK3MAG pins
                                                GPSData.Status = INVALID;
                                                fifo_purge(&UART1_rx_fifo);
                                                DebugUART = UART0;
                                                break;
                                        case UART_MKGPS:
                                                if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running
                                                TIMER2_Deinit();                        // disable servo outputs to reduce irq load
                                                UART0_Connect_to_MKGPS();       // connect UART0 to MKGPS pins
                                                GPSData.Status = INVALID;
                                                fifo_purge(&UART1_rx_fifo);
                                                DebugUART = UART0;
                                                break;
                                        default:
                                                break;
                                }
                                break;
 
                        case 'w'://  Append Waypoint to List
                                {
 
 
                                        pWaypoint = (Waypoint_t*)SerialMsg.pData;
                                        //sprintf(text, "\r\nI=%d, S=%d,T=%d\r\n",pWaypoint->Index, pWaypoint->Position.Status, pWaypoint->Type);
                                        //UART1_PutString(text);
 
                                        if((pWaypoint->Position.Status == INVALID) && (pWaypoint->Index == 0))
                                        {
                                                WPList_Clear();
                                                GPS_pWaypoint = WPList_Begin();
 
                                                UART1_Request_NewWaypoint = TRUE; // return new WP number       
                                        }
                                        else
                                        {  // app current WP to the list
                                                if (pWaypoint->Index == (WPList_GetCount() + 1))
                                                {
                                                        WPList_Append(pWaypoint);
                                                        BeepTime = 500;
 
                                                        UART1_Request_NewWaypoint = TRUE; // return new WP number
                                                }
                                        }
                                }
                                break;
 
                        case 'x'://  Read Waypoint from List
                                UART1_Request_ReadWaypoint = SerialMsg.pData[0];
                                break;
 
                        case 'j':// Set/Get NC-Parameter
                                switch(SerialMsg.pData[0])
                                {
                                        case 0: // get
                                        break;
 
                                        case 1: // set
                                        {
                                                s16 value;
                                                value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100;
                                                NCParams_SetValue(SerialMsg.pData[1], &value);
                                        }
                                        break;
 
                                        default:
                                        break;
                                }
                                UART1_Request_ParameterId = SerialMsg.pData[1];
                                UART1_Request_Parameter = TRUE;
                                break;
                        default:
                                // unsupported command recieved
                                break;
                } // case NC_ADDRESS
                // "break;" is missing here to fall thru to the common commands
 
                default:  // and any other Slave Address
 
                switch(SerialMsg.CmdID) // check CmdID
                {
                        case 'a':// request for the labels of the analog debug outputs
                                UART1_Request_DebugLabel = SerialMsg.pData[0];
                                if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31;
                                break;
                        /*
                        case 'b': // submit extern control
                                memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl));
                                UART1_ConfirmFrame = ExternControl.Frame;
                                break;
                        */
                        case 'd': // request for debug data;
                                UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10;
                                if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE;
                                UART1_AboTimeOut = SetDelay(ABO_TIMEOUT);
                                break;
 
                        case 'c': // request for 3D data;
                                UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10;
                                if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE;
                                UART1_AboTimeOut = SetDelay(ABO_TIMEOUT);
                                break;
                        /*
                        case 'g':// request for external control data
                                UART1_Request_ExternalControl = TRUE;
                                break;
                        */
                        case 'h':// reqest for display line
                                if((SerialMsg.pData[0]& 0x80) == 0x00)// old format
                                {
                                        UART1_DisplayLine = 2;
                                        UART1_Display_Interval = 0;
                                }
                                else
                                {
                                        UART1_DisplayKeys |= ~SerialMsg.pData[0];
                                        UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10;
                                        UART1_DisplayLine = 4;
                                        UART1_AboTimeOut = SetDelay(ABO_TIMEOUT);
                                }
                                UART1_Request_Display = TRUE;
                                break;
 
                        case 'l':// reqest for display columns
                                MenuItem = SerialMsg.pData[0];
                                UART1_Request_Display1 = TRUE;
                                break;
 
                        case 'o': // request for navigation information
                                UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10;
                                if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE;
                                UART1_AboTimeOut = SetDelay(ABO_TIMEOUT);
                                break;
 
                        case 'v': // request for version info
                                UART1_Request_VersionInfo = TRUE;
                                break;
                        default:
                                // unsupported command recieved
                                break;
                }
                break; // default:
        }
        Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame
}
 
 
/*****************************************************/
/*                   Send a character                */
/*****************************************************/
s16 UART1_Putchar(char c)
{
        if (c == '\n') UART1_Putchar('\r');
        // wait until txd fifo is not full
        while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET);
        // transmit byte
        UART_SendData(UART1, c);
        return (0);
}
 
/*****************************************************/
/*       Send a string to the debug uart              */
/*****************************************************/
void UART1_PutString(u8 *s)
{
        if(s == NULL) return;
        while (*s != '\0' && DebugUART == UART1)
        {
                UART1_Putchar(*s);
                s ++;
        }
}
 
 
/**************************************************************/
/*         Transmit tx buffer via debug uart                  */
/**************************************************************/
void UART1_Transmit(void)
{
        u8 tmp_tx;
        if(DebugUART != UART1) return;
        // if something has to be send and the txd fifo is not full
        if(UART1_tx_buffer.Locked == TRUE)
        {
                // while there is some space in the tx fifo
                while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET)
                {
                        tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer
                        UART_SendData(UART1, tmp_tx); // put character to txd fifo
                        // if terminating character or end of txd buffer reached
                        if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes))
                        {
                                Buffer_Clear(&UART1_tx_buffer); // clear txd buffer
                                break; // end while loop
                        }
                }
        }
}
 
/**************************************************************/
/* Send the answers to incomming commands at the debug uart   */
/**************************************************************/
void UART1_TransmitTxData(void)
{
        if(DebugUART != UART1) return;
 
        if(CheckDelay(UART1_AboTimeOut))
        {
                UART1_DebugData_Interval = 0;
                UART1_NaviData_Interval = 0;
                UART1_Data3D_Interval = 0;
                UART1_Display_Interval = 0;
        }
 
        UART1_Transmit(); // output pending bytes in tx buffer
        if((UART1_tx_buffer.Locked == TRUE)) return;
 
        if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE))
        {
                s16 ParamValue;
                NCParams_GetValue(UART1_Request_ParameterId, &ParamValue);
                //sprintf(text, "\r\nId=%d, value = %d\r\n", UART1_Request_ParameterId, ParamValue);
                //UART1_PutString(text);
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request
                UART1_Request_Parameter = FALSE;
        }
        else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE))
        {
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request
                Echo = 0; // reset echo value
                UART1_Request_Echo = FALSE;
        }
        else if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE))
        {
                u8 WPNumber = WPList_GetCount();
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber));
                UART1_Request_NewWaypoint = FALSE;
        }
        else if((UART1_Request_ReadWaypoint) && (UART1_tx_buffer.Locked == FALSE))
        {
                u8 WPNumber = WPList_GetCount();
                if (UART1_Request_ReadWaypoint <= WPNumber)
                {
                        MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &UART1_Request_ReadWaypoint, 1, WPList_GetAt(UART1_Request_ReadWaypoint), sizeof(Waypoint_t));
                }
                else
                {
                        MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber));
                }
                UART1_Request_ReadWaypoint = 0;
        }
        else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE))
        {
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16);
                UART1_Request_DebugLabel = 0xFF;
        }
        else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE))
        {
                NaviData.Errorcode = ErrorCode;
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData));
                UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval);
                UART1_Request_NaviData = FALSE;
        }
        else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE))
        {
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut));
                UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval);
                UART1_Request_DebugData = FALSE;
        }
        else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE))
        {
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D));
                UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval);
                UART1_Request_Data3D = FALSE;
        }
        /*
        else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE))
        {
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame));
                UART1_ConfirmFrame = 0;
        }
        */
        /*
        else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE))
        {
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl));
                UART1_Request_ExternalControl = FALSE;
        }
        */
        else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE))
        {
                if(UART1_DisplayLine > 3)
                {
                        Menu_Update(UART1_DisplayKeys);
                        UART1_DisplayKeys = 0;
                        MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff));
                }
                else
                {
                        UART1_DisplayLine = 2;
                        sprintf(text,"!!! incompatible !!!");
                        MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20);
                        if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0;
                }
                UART1_Display_Timer = SetDelay(UART1_Display_Interval);
                UART1_Request_Display = FALSE;
        }
        else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE))
        {
                Menu_Update(0);
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff));
                UART1_Request_Display1 = FALSE;
        }
        else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE))
        {
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo));
                UART1_Request_VersionInfo = FALSE;
        }
        else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE))
        {
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG));
                UART1_Request_ErrorMessage = FALSE;
        }
        UART1_Transmit(); // output pending bytes in tx buffer
}
 
 

Rev 225	Rev 227
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 "config.h"	62	#include "config.h"
63	#include "menu.h"	63	#include "menu.h"
64	#include "GPS.h"	64	#include "GPS.h"
65	#include "i2c.h"	65	#include "i2c.h"
66	#include "uart0.h"	66	#include "uart0.h"
67	#include "uart1.h"	67	#include "uart1.h"
68	#include "uart2.h"	68	#include "uart2.h"
69	#include "timer1.h"	69	#include "timer1.h"
70	#include "timer2.h"	70	#include "timer2.h"
71	#include "analog.h"	71	#include "analog.h"
72	#include "main.h"	72	#include "main.h"
73	#include "waypoints.h"	73	#include "waypoints.h"
74	#include "mkprotocol.h"	74	#include "mkprotocol.h"
75	#include "params.h"	75	#include "params.h"
76	#include "fifo.h"	76	#include "fifo.h"
77		77
78	#define FALSE 0	78	#define FALSE 0
79	#define TRUE 1	79	#define TRUE 1
80		80
81	#define ABO_TIMEOUT 4000 // disable abo after 4 seconds	81	#define ABO_TIMEOUT 4000 // disable abo after 4 seconds
82	u32 UART1_AboTimeOut = 0;	82	u32 UART1_AboTimeOut = 0;
83		83
84	u8 UART1_Request_VersionInfo = FALSE;	84	u8 UART1_Request_VersionInfo = FALSE;
85	u8 UART1_Request_ExternalControl= FALSE;	85	u8 UART1_Request_ExternalControl= FALSE;
86	u8 UART1_Request_Display = FALSE;	86	u8 UART1_Request_Display = FALSE;
87	u8 UART1_Request_Display1 = FALSE;	87	u8 UART1_Request_Display1 = FALSE;
88	u8 UART1_Request_DebugData = FALSE;	88	u8 UART1_Request_DebugData = FALSE;
89	u8 UART1_Request_DebugLabel = 255;	89	u8 UART1_Request_DebugLabel = 255;
90	u8 UART1_Request_NaviData = FALSE;	90	u8 UART1_Request_NaviData = FALSE;
91	u8 UART1_Request_ErrorMessage = FALSE;	91	u8 UART1_Request_ErrorMessage = FALSE;
92	u8 UART1_Request_NewWaypoint = FALSE;	92	u8 UART1_Request_NewWaypoint = FALSE;
93	u8 UART1_Request_ReadWaypoint = 0;	93	u8 UART1_Request_ReadWaypoint = 0;
94	u8 UART1_Request_Data3D = FALSE;	94	u8 UART1_Request_Data3D = FALSE;
95	u8 UART1_Request_Echo = FALSE;	95	u8 UART1_Request_Echo = FALSE;
96	u8 UART1_Request_ParameterId = 0;	96	u8 UART1_Request_ParameterId = 0;
97	u8 UART1_Request_Parameter = FALSE;	97	u8 UART1_Request_Parameter = FALSE;
98	u8 UART1_DisplayKeys = 0;	98	u8 UART1_DisplayKeys = 0;
99	u8 UART1_DisplayLine = 0;	99	u8 UART1_DisplayLine = 0;
100	u8 UART1_ConfirmFrame = 0;	100	u8 UART1_ConfirmFrame = 0;
101		101
102	UART_TypeDef *DebugUART = UART1;	102	UART_TypeDef *DebugUART = UART1;
103		103
104	// the primary rx fifo	104	// the primary rx fifo
105	#define UART1_RX_FIFO_LEN 1024	105	#define UART1_RX_FIFO_LEN 1024
106	u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN];	106	u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN];
107	fifo_t UART1_rx_fifo;	107	fifo_t UART1_rx_fifo;
108		108
109	// the rx buffer	109	// the rx buffer
110	#define UART1_RX_BUFFER_LEN 150	110	#define UART1_RX_BUFFER_LEN 150
111	u8 UART1_rbuffer[UART1_RX_BUFFER_LEN];	111	u8 UART1_rbuffer[UART1_RX_BUFFER_LEN];
112	Buffer_t UART1_rx_buffer;	112	Buffer_t UART1_rx_buffer;
113		113
114	// the tx buffer	114	// the tx buffer
115	#define UART1_TX_BUFFER_LEN 150	115	#define UART1_TX_BUFFER_LEN 150
116	u8 UART1_tbuffer[UART1_TX_BUFFER_LEN];	116	u8 UART1_tbuffer[UART1_TX_BUFFER_LEN];
117	Buffer_t UART1_tx_buffer;	117	Buffer_t UART1_tx_buffer;
118		118
119		119
120		120
121	volatile u8 SerialLinkOkay = 0;	121	volatile u8 SerialLinkOkay = 0;
122		122
123	u8 text[200];	123	u8 text[200];
124		124
125	const u8 ANALOG_LABEL[32][16] =	125	const u8 ANALOG_LABEL[32][16] =
126	{	126	{
127	//1234567890123456	127	//1234567890123456
128	"AngleNick ", //0	128	"AngleNick ", //0
129	"AngleRoll ",	129	"AngleRoll ",
130	"AccNick ",	130	"AccNick ",
131	"AccRoll ",	131	"AccRoll ",
132	"OperatingRadius ",	132	"OperatingRadius ",
133	"FC-Flags ", //5	133	"FC-Flags ", //5
134	"NC-Flags ",	134	"NC-Flags ",
135	"NickServo ",	135	"NickServo ",
136	"RollServo ",	136	"RollServo ",
137	"GPS Data ",	137	"GPS Data ",
138	"CompassHeading ", //10	138	"CompassHeading ", //10
139	"GyroHeading ",	139	"GyroHeading ",
140	"SPI Error ",	140	"SPI Error ",
141	"SPI Okay ",	141	"SPI Okay ",
142	"I2C Error ",	142	"I2C Error ",
143	"I2C Okay ", //15	143	"I2C Okay ", //15
144	" ",// "Kalman_K ",	144	" ",// "Kalman_K ",
145	"ACC_Speed_N ",	145	"ACC_Speed_N ",
146	"ACC_Speed_E ",	146	"ACC_Speed_E ",
147	"Speed_z ",// "GPS ACC ",	147	"Speed_z ",// "GPS ACC ",
148	" ",// "MAXDrift ", //20	148	" ",// "MAXDrift ", //20
149	"N_Speed ",	149	"N_Speed ",
150	"E_Speed ",	150	"E_Speed ",
151	"P-Part ",	151	"P-Part ",
152	"I-Part ",	152	"I-Part ",
153	"D-Part ",//25	153	"D-Part ",//25
154	"PID-Part ",	154	"PID-Part ",
155	"Distance N ",	155	"Distance N ",
156	"Distance E ",	156	"Distance E ",
157	"GPS_Nick ",	157	"GPS_Nick ",
158	"GPS_Roll ", //30	158	"GPS_Roll ", //30
159	"Used_Sats "	159	"Used_Sats "
160	};	160	};
161		161
162	DebugOut_t DebugOut;	162	DebugOut_t DebugOut;
163	ExternControl_t ExternControl;	163	ExternControl_t ExternControl;
164	UART_VersionInfo_t UART_VersionInfo;	164	UART_VersionInfo_t UART_VersionInfo;
165	NaviData_t NaviData;	165	NaviData_t NaviData;
166	Data3D_t Data3D;	166	Data3D_t Data3D;
167	u16 Echo; // 2 bytes recieved will be sent back as echo	167	u16 Echo; // 2 bytes recieved will be sent back as echo
168		168
169	u32 UART1_DebugData_Timer = 0;	169	u32 UART1_DebugData_Timer = 0;
170	u32 UART1_DebugData_Interval = 0; // in ms	170	u32 UART1_DebugData_Interval = 0; // in ms
171	u32 UART1_NaviData_Timer = 0;	171	u32 UART1_NaviData_Timer = 0;
172	u32 UART1_NaviData_Interval = 0; // in ms	172	u32 UART1_NaviData_Interval = 0; // in ms
173	u32 UART1_Data3D_Timer = 0;	173	u32 UART1_Data3D_Timer = 0;
174	u32 UART1_Data3D_Interval = 0; // in ms	174	u32 UART1_Data3D_Interval = 0; // in ms
175	u32 UART1_Display_Timer = 0;	175	u32 UART1_Display_Timer = 0;
176	u32 UART1_Display_Interval = 0; // in ms	176	u32 UART1_Display_Interval = 0; // in ms
177		177
178	/********************************************************/	178	/********************************************************/
179	/* Initialization the UART1 */	179	/* Initialization the UART1 */
180	/********************************************************/	180	/********************************************************/
181	void UART1_Init (void)	181	void UART1_Init (void)
182	{	182	{
183	GPIO_InitTypeDef GPIO_InitStructure;	183	GPIO_InitTypeDef GPIO_InitStructure;
184	UART_InitTypeDef UART_InitStructure;	184	UART_InitTypeDef UART_InitStructure;
185		185
186	// initialize txd buffer	186	// initialize txd buffer
187	Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN);	187	Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN);
188		188
189	// initialize rxd buffer	189	// initialize rxd buffer
190	Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN);	190	Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN);
191		191
192	// initialize the rx fifo	192	// initialize the rx fifo
193	fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN);	193	fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN);
194		194
195	SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock	195	SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock
196	SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock	196	SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock
197		197
198	/Configure UART1_Rx pin GPIO3.2/	198	/Configure UART1_Rx pin GPIO3.2/
199	GPIO_StructInit(&GPIO_InitStructure);	199	GPIO_StructInit(&GPIO_InitStructure);
200	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;	200	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
201	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;	201	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
202	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;	202	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
203	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;	203	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
204	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD	204	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD
205	GPIO_Init(GPIO3, &GPIO_InitStructure);	205	GPIO_Init(GPIO3, &GPIO_InitStructure);
206		206
207	/Configure UART1_Tx pin GPIO3.3/	207	/Configure UART1_Tx pin GPIO3.3/
208	GPIO_StructInit(&GPIO_InitStructure);	208	GPIO_StructInit(&GPIO_InitStructure);
209	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;	209	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
210	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;	210	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
211	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;	211	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
212	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX	212	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX
213	GPIO_Init(GPIO3, &GPIO_InitStructure);	213	GPIO_Init(GPIO3, &GPIO_InitStructure);
214		214
215	/* UART1 configured as follow:	215	/* UART1 configured as follow:
216	- Word Length = 8 Bits	216	- Word Length = 8 Bits
217	- One Stop Bit	217	- One Stop Bit
218	- No parity	218	- No parity
219	- BaudRate = 57600 baud	219	- BaudRate = 57600 baud
220	- Hardware flow control Disabled	220	- Hardware flow control Disabled
221	- Receive and transmit enabled	221	- Receive and transmit enabled
222	- Receive and transmit FIFOs are Disabled	222	- Receive and transmit FIFOs are Disabled
223	*/	223	*/
224	UART_StructInit(&UART_InitStructure);	224	UART_StructInit(&UART_InitStructure);
225	UART_InitStructure.UART_WordLength = UART_WordLength_8D;	225	UART_InitStructure.UART_WordLength = UART_WordLength_8D;
226	UART_InitStructure.UART_StopBits = UART_StopBits_1;	226	UART_InitStructure.UART_StopBits = UART_StopBits_1;
227	UART_InitStructure.UART_Parity = UART_Parity_No ;	227	UART_InitStructure.UART_Parity = UART_Parity_No ;
228	UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE;	228	UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE;
229	UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None;	229	UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None;
230	UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx;	230	UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx;
231	UART_InitStructure.UART_FIFO = UART_FIFO_Enable;	231	UART_InitStructure.UART_FIFO = UART_FIFO_Enable;
232	UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2;	232	UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2;
233	UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2;	233	UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2;
234		234
235	UART_DeInit(UART1); // reset uart 1 to default	235	UART_DeInit(UART1); // reset uart 1 to default
236	UART_Init(UART1, &UART_InitStructure); // initialize uart 1	236	UART_Init(UART1, &UART_InitStructure); // initialize uart 1
237	// enable uart 1 interrupts selective	237	// enable uart 1 interrupts selective
238	UART_ITConfig(UART1, UART_IT_Receive \| UART_IT_ReceiveTimeOut, ENABLE);	238	UART_ITConfig(UART1, UART_IT_Receive \| UART_IT_ReceiveTimeOut, ENABLE);
239	UART_Cmd(UART1, ENABLE); // enable uart 1	239	UART_Cmd(UART1, ENABLE); // enable uart 1
240	// configure the uart 1 interupt line	240	// configure the uart 1 interupt line
241	VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1);	241	VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1);
242	// enable the uart 1 IRQ	242	// enable the uart 1 IRQ
243	VIC_ITCmd(UART1_ITLine, ENABLE);	243	VIC_ITCmd(UART1_ITLine, ENABLE);
244		244
245	// initialize the debug timer	245	// initialize the debug timer
246	UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval);	246	UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval);
247	UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500;	247	UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500;
248		248
249	// Fill Version Info Structure	249	// Fill Version Info Structure
250	UART_VersionInfo.SWMajor = VERSION_MAJOR;	250	UART_VersionInfo.SWMajor = VERSION_MAJOR;
251	UART_VersionInfo.SWMinor = VERSION_MINOR;	251	UART_VersionInfo.SWMinor = VERSION_MINOR;
252	UART_VersionInfo.SWPatch = VERSION_PATCH;	252	UART_VersionInfo.SWPatch = VERSION_PATCH;
253	UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;	253	UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;
254	UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;	254	UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;
255		255
256	NaviData.Version = NAVIDATA_VERSION;	256	NaviData.Version = NAVIDATA_VERSION;
257		257
258	UART1_PutString("\r\n UART1 init...ok");	258	UART1_PutString("\r\n UART1 init...ok");
259	}	259	}
260		260
261		261
262	/****************************************************************/	262	/****************************************************************/
263	/* USART1 receiver ISR */	263	/* USART1 receiver ISR */
264	/****************************************************************/	264	/****************************************************************/
265	void UART1_IRQHandler(void)	265	void UART1_IRQHandler(void)
266	{	266	{
267	static u8 abortState = 0;	267	static u8 abortState = 0;
268	u8 c;	268	u8 c;
269		269
270	IENABLE;	270	IENABLE;
271		271
272	if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) \|\| (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) )	272	if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) \|\| (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) )
273	{	273	{
274	// clear the pending bits!	274	// clear the pending bits!
275	UART_ClearITPendingBit(UART1, UART_IT_Receive);	275	UART_ClearITPendingBit(UART1, UART_IT_Receive);
276	UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut);	276	UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut);
277	// if debug UART is not UART1	277	// if debug UART is not UART1
278	if (DebugUART != UART1)	278	if (DebugUART != UART1)
279	{ // forward received data to the debug UART tx buffer	279	{ // forward received data to the debug UART tx buffer
280	while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)	280	while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)
281	{	281	{
282	// move the byte from the rx buffer of UART1 to the tx buffer of DebugUART	282	// move the byte from the rx buffer of UART1 to the tx buffer of DebugUART
283	c = UART_ReceiveData(UART1);	283	c = UART_ReceiveData(UART1);
284		284
285	// check for abort condition (ESC ESC 0x55 0xAA 0x00)	285	// check for abort condition (ESC ESC 0x55 0xAA 0x00)
286	switch (abortState)	286	switch (abortState)
287	{	287	{
288	case 0:	288	case 0:
289	if (c == 27) abortState++;	289	if (c == 27) abortState++;
290	break;	290	break;
291	case 1:	291	case 1:
292	if (c == 27) abortState++;	292	if (c == 27) abortState++;
293	else abortState = 0;	293	else abortState = 0;
294	break;	294	break;
295	case 2:	295	case 2:
296	if (c == 0x55) abortState++;	296	if (c == 0x55) abortState++;
297	else abortState = 0;	297	else abortState = 0;
298	break;	298	break;
299	case 3:	299	case 3:
300	if (c == 0xAA) abortState++;	300	if (c == 0xAA) abortState++;
301	else abortState = 0;	301	else abortState = 0;
302	break;	302	break;
303	case 4:	303	case 4:
304	if (c == 0x00)	304	if (c == 0x00)
305	{	305	{
306	if(DebugUART == UART0)	306	if(DebugUART == UART0)
307	{	307	{
308	UART0_Connect_to_MKGPS();	308	UART0_Connect_to_MKGPS();
309	TIMER2_Init(); // enbable servo outputs	309	TIMER2_Init(); // enbable servo outputs
310	fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer	310	fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer
311	}	311	}
312	DebugUART = UART1;	312	DebugUART = UART1;
313	}	313	}
314	abortState = 0;	314	abortState = 0;
315	break;	315	break;
316	} // end switch abort state	316	} // end switch abort state
317	// if the Debug uart is not UART1, redirect input to the Debug UART	317	// if the Debug uart is not UART1, redirect input to the Debug UART
318	if (DebugUART != UART1)	318	if (DebugUART != UART1)
319	{	319	{
320	// wait for space in the tx buffer of the DebugUART	320	// wait for space in the tx buffer of the DebugUART
321	while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {};	321	while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {};
322	// move byte to the tx fifo of the debug uart	322	// move byte to the tx fifo of the debug uart
323	UART_SendData(DebugUART, c);	323	UART_SendData(DebugUART, c);
324	}	324	}
325	}	325	}
326	}	326	}
327	else // DebugUART == UART1 (normal operation)	327	else // DebugUART == UART1 (normal operation)
328	{	328	{
329	while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)	329	while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)
330	{ // some byes in the hardware fifo	330	{ // some byes in the hardware fifo
331	// get byte from hardware fifo	331	// get byte from hardware fifo
332	c = UART_ReceiveData(UART1);	332	c = UART_ReceiveData(UART1);
333	// put into the software fifo	333	// put into the software fifo
334	if(!fifo_put(&UART1_rx_fifo, c))	334	if(!fifo_put(&UART1_rx_fifo, c))
335	{ // fifo overflow	335	{ // fifo overflow
336	//fifo_purge(&UART1_rx_fifo); // flush the whole buffer	336	//fifo_purge(&UART1_rx_fifo); // flush the whole buffer
337	}	337	}
338	} // EOF while some byes in the hardware fifo	338	} // EOF while some byes in the hardware fifo
339	} // eof DebugUart = UART1	339	} // eof DebugUart = UART1
340	}	340	}
341		341
342	IDISABLE;	342	IDISABLE;
343	}	343	}
344		344
345	/**************************************************************/	345	/**************************************************************/
346	/* Process incomming data from debug uart */	346	/* Process incomming data from debug uart */
347	/**************************************************************/	347	/**************************************************************/
348	void UART1_ProcessRxData(void)	348	void UART1_ProcessRxData(void)
349	{	349	{
350	// return on forwarding uart or unlocked rx buffer	350	// return on forwarding uart or unlocked rx buffer
351	if(DebugUART != UART1) return;	351	if(DebugUART != UART1) return;
352		352
353	u8 c;	353	u8 c;
354	// if rx buffer is not locked	354	// if rx buffer is not locked
355	if(UART1_rx_buffer.Locked == FALSE)	355	if(UART1_rx_buffer.Locked == FALSE)
356	{ //collect data from primary rx fifo	356	{ //collect data from primary rx fifo
357	while(fifo_get(&UART1_rx_fifo, &c))	357	while(fifo_get(&UART1_rx_fifo, &c))
358	{ // break if complete frame is collected	358	{ // break if complete frame is collected
359	if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break;	359	if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break;
360	}	360	}
361	}	361	}
362	if(UART1_rx_buffer.Locked == FALSE) return;	362	if(UART1_rx_buffer.Locked == FALSE) return;
363		363
364	Waypoint_t * pWaypoint = NULL;	364	Waypoint_t * pWaypoint = NULL;
365	SerialMsg_t SerialMsg;	365	SerialMsg_t SerialMsg;
366		366
367	// analyze header first	367	// analyze header first
368	MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg);	368	MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg);
369	if( SerialMsg.Address == FC_ADDRESS )	369	if( SerialMsg.Address == FC_ADDRESS )
370	{	370	{
371	switch(SerialMsg.CmdID)	371	switch(SerialMsg.CmdID)
372	{	372	{
373	case 'y': // serial poti values	373	case 'y': // serial poti values
374	case 'b': // extern control	374	case 'b': // extern control
375	Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC	375	Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC
376	Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame	376	Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame
377	return; //end process rx data	377	return; //end process rx data
378	break;	378	break;
379	}	379	}
380	}	380	}
381		381
382	MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer	382	MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer
383	if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping"	383	if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping"
384	switch(SerialMsg.Address) // check for Slave Address	384	switch(SerialMsg.Address) // check for Slave Address
385	{	385	{
386	case NC_ADDRESS: // own Slave Address	386	case NC_ADDRESS: // own Slave Address
387	switch(SerialMsg.CmdID)	387	switch(SerialMsg.CmdID)
388	{	388	{
389	case 'z': // connection checker	389	case 'z': // connection checker
390	memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern	390	memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern
391	UART1_Request_Echo = TRUE;	391	UART1_Request_Echo = TRUE;
392	break;	392	break;
393		393
394	case 'e': // request for the text of the error status	394	case 'e': // request for the text of the error status
395	UART1_Request_ErrorMessage = TRUE;	395	UART1_Request_ErrorMessage = TRUE;
396	break;	396	break;
397		397
398	case 's':// new target position	398	case 's':// new target position
399	pWaypoint = (Waypoint_t*)SerialMsg.pData;	399	pWaypoint = (Waypoint_t*)SerialMsg.pData;
400	BeepTime = 300;	400	BeepTime = 300;
401	if(pWaypoint->Position.Status == NEWDATA)	401	if(pWaypoint->Position.Status == NEWDATA)
402	{	402	{
403	WPList_Clear(); // empty WPList	403	WPList_Clear(); // empty WPList
404	WPList_Append(pWaypoint);	404	WPList_Append(pWaypoint);
405	GPS_pWaypoint = WPList_Begin();	405	GPS_pWaypoint = WPList_Begin();
406	}	406	}
407	break;	407	break;
408		408
409	case 'u': // redirect debug uart	409	case 'u': // redirect debug uart
410	switch(SerialMsg.pData[0])	410	switch(SerialMsg.pData[0])
411	{	411	{
412	case UART_FLIGHTCTRL:	412	case UART_FLIGHTCTRL:
413	UART2_Init(); // initialize UART2 to FC pins	413	UART2_Init(); // initialize UART2 to FC pins
414	fifo_purge(&UART1_rx_fifo);	414	fifo_purge(&UART1_rx_fifo);
415	TIMER2_Deinit(); // reduce irq load	415	TIMER2_Deinit(); // reduce irq load
416	DebugUART = UART2;	416	DebugUART = UART2;
417	break;	417	break;
418	case UART_MK3MAG:	418	case UART_MK3MAG:
419	if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running	419	if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running
420	UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins	420	UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins
421	GPSData.Status = INVALID;	421	GPSData.Status = INVALID;
422	fifo_purge(&UART1_rx_fifo);	422	fifo_purge(&UART1_rx_fifo);
423	DebugUART = UART0;	423	DebugUART = UART0;
424	break;	424	break;
425	case UART_MKGPS:	425	case UART_MKGPS:
426	if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running	426	if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running
427	TIMER2_Deinit(); // disable servo outputs to reduce irq load	427	TIMER2_Deinit(); // disable servo outputs to reduce irq load
428	UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins	428	UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins
429	GPSData.Status = INVALID;	429	GPSData.Status = INVALID;
430	fifo_purge(&UART1_rx_fifo);	430	fifo_purge(&UART1_rx_fifo);
431	DebugUART = UART0;	431	DebugUART = UART0;
432	break;	432	break;
433	default:	433	default:
434	break;	434	break;
435	}	435	}
436	break;	436	break;
437		437
438	case 'w':// Append Waypoint to List	438	case 'w':// Append Waypoint to List
439	{	439	{
440	static u8 nextIndex = 0x01;	-
441		-
442	pWaypoint = (Waypoint_t*)SerialMsg.pData;	440	pWaypoint = (Waypoint_t*)SerialMsg.pData;
443	sprintf(text, "\r\nI=%d, S=%d,T=%d\r\n",pWaypoint->Index, pWaypoint->Position.Status, pWaypoint->Type);	441	//sprintf(text, "\r\nI=%d, S=%d,T=%d\r\n",pWaypoint->Index, pWaypoint->Position.Status, pWaypoint->Type);
444	UART1_PutString(text);	442	//UART1_PutString(text);
445		443
446	if(pWaypoint->Position.Status == INVALID)	444	if((pWaypoint->Position.Status == INVALID) && (pWaypoint->Index == 0))
447	{	445	{
448	WPList_Clear();	446	WPList_Clear();
449	GPS_pWaypoint = WPList_Begin();	447	GPS_pWaypoint = WPList_Begin();
450	nextIndex = 0x01;	-
451	UART1_Request_NewWaypoint = TRUE; // return new WP number	448	UART1_Request_NewWaypoint = TRUE; // return new WP number
452	}	449	}
453	else if(pWaypoint->Position.Status == NEWDATA)	450	else
454	{ // app current WP to the list	451	{ // app current WP to the list
455	if (pWaypoint->Index == nextIndex)	452	if (pWaypoint->Index == (WPList_GetCount() + 1))
456	{	453	{
457	WPList_Append(pWaypoint);	454	WPList_Append(pWaypoint);
458	BeepTime = 500;	455	BeepTime = 500;
459	nextIndex = pWaypoint->Index+1;	-
460	UART1_Request_NewWaypoint = TRUE; // return new WP number	456	UART1_Request_NewWaypoint = TRUE; // return new WP number
461	}	457	}
462	}	458	}
463	}	459	}
464	break;	460	break;
465		461
466	case 'x':// Read Waypoint from List	462	case 'x':// Read Waypoint from List
467	UART1_Request_ReadWaypoint = SerialMsg.pData[0];	463	UART1_Request_ReadWaypoint = SerialMsg.pData[0];
468	break;	464	break;
469		465
470	case 'j':// Set/Get NC-Parameter	466	case 'j':// Set/Get NC-Parameter
471	switch(SerialMsg.pData[0])	467	switch(SerialMsg.pData[0])
472	{	468	{
473	case 0: // get	469	case 0: // get
474	break;	470	break;
475		471
476	case 1: // set	472	case 1: // set
477	{	473	{
478	s16 value;	474	s16 value;
479	value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100;	475	value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100;
480	NCParams_SetValue(SerialMsg.pData[1], &value);	476	NCParams_SetValue(SerialMsg.pData[1], &value);
481	}	477	}
482	break;	478	break;
483		479
484	default:	480	default:
485	break;	481	break;
486	}	482	}
487	UART1_Request_ParameterId = SerialMsg.pData[1];	483	UART1_Request_ParameterId = SerialMsg.pData[1];
488	UART1_Request_Parameter = TRUE;	484	UART1_Request_Parameter = TRUE;
489	break;	485	break;
490	default:	486	default:
491	// unsupported command recieved	487	// unsupported command recieved
492	break;	488	break;
493	} // case NC_ADDRESS	489	} // case NC_ADDRESS
494	// "break;" is missing here to fall thru to the common commands	490	// "break;" is missing here to fall thru to the common commands
495		491
496	default: // and any other Slave Address	492	default: // and any other Slave Address
497		493
498	switch(SerialMsg.CmdID) // check CmdID	494	switch(SerialMsg.CmdID) // check CmdID
499	{	495	{
500	case 'a':// request for the labels of the analog debug outputs	496	case 'a':// request for the labels of the analog debug outputs

Subversion Repositories NaviCtrl

(root)/tags/V0.26b/uart1.c @ 668 - Rev 225 → 227