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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 |
6 | // + Nur für den privaten Gebrauch |
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 der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die PORTIERUNG 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 this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
43 | // + * PORTING this software (or part of it) to systems (other than 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 "ramfunc.h" |
- | |
63 | #include "menu.h" |
62 | #include "menu.h" |
64 | #include "printf_P.h" |
63 | #include "printf_P.h" |
65 | #include "GPS.h" |
64 | #include "GPS.h" |
66 | #include "i2c.h" |
65 | #include "i2c.h" |
67 | #include "uart0.h" |
66 | #include "uart0.h" |
68 | #include "uart1.h" |
67 | #include "uart1.h" |
69 | #include "uart2.h" |
68 | #include "uart2.h" |
70 | #include "timer.h" |
69 | #include "timer.h" |
71 | #include "usb.h" |
- | |
72 | #include "main.h" |
70 | #include "main.h" |
73 | #include "waypoints.h" |
71 | #include "waypoints.h" |
74 | #include "GPS.h" |
72 | #include "mkprotocol.h" |
75 | - | ||
76 | // slave addresses |
- | |
77 | #define FC_ADDRESS 1 |
- | |
78 | #define NC_ADDRESS 2 |
- | |
79 | #define MK3MAG_ADDRESS 3 |
- | |
80 | 73 | ||
81 | #define FALSE 0 |
74 | #define FALSE 0 |
82 | #define TRUE 1 |
75 | #define TRUE 1 |
83 | 76 | ||
84 | typedef struct |
77 | typedef struct |
85 | { |
78 | { |
86 | u8 SWMajor; |
79 | u8 SWMajor; |
87 | u8 SWMinor; |
80 | u8 SWMinor; |
88 | u8 ProtoMajor; |
81 | u8 ProtoMajor; |
89 | u8 ProtoMinor; |
82 | u8 ProtoMinor; |
90 | u8 SWPatch; |
83 | u8 SWPatch; |
91 | u8 Reserved[5]; |
84 | u8 Reserved[5]; |
92 | } __attribute__((packed)) UART_VersionInfo_t; |
85 | } __attribute__((packed)) UART_VersionInfo_t; |
93 | 86 | ||
94 | 87 | ||
95 | u8 Request_SendFollowMe = FALSE; |
88 | u8 UART1_Request_VersionInfo = FALSE; |
96 | u8 Request_VerInfo = FALSE; |
89 | u8 UART1_Request_SendFollowMe = FALSE; |
97 | u8 Request_ExternalControl = FALSE; |
90 | u8 UART1_Request_ExternalControl= FALSE; |
98 | u8 Request_Display = FALSE; |
91 | u8 UART1_Request_Display = FALSE; |
99 | u8 Request_Display1 = FALSE; |
92 | u8 UART1_Request_Display1 = FALSE; |
100 | u8 Request_DebugData = FALSE; |
93 | u8 UART1_Request_DebugData = FALSE; |
101 | u8 Request_DebugLabel = 255; |
- | |
102 | u8 Request_ChannelOnly = FALSE; |
94 | u8 UART1_Request_DebugLabel = 255; |
103 | u8 Request_NaviData = FALSE; |
95 | u8 UART1_Request_NaviData = FALSE; |
104 | u8 Request_ErrorMessage = FALSE; |
96 | u8 UART1_Request_ErrorMessage = FALSE; |
105 | u8 Request_NewWaypoint = FALSE; |
97 | u8 UART1_Request_NewWaypoint = FALSE; |
106 | u8 Request_ReadWaypoint = 255; |
98 | u8 UART1_Request_ReadWaypoint = 255; |
107 | u8 Request_Data3D = FALSE; |
99 | u8 UART1_Request_Data3D = FALSE; |
108 | u8 Request_Echo = FALSE; |
100 | u8 UART1_Request_Echo = FALSE; |
109 | 101 | ||
110 | u8 DisplayLine = 0; |
102 | u8 DisplayLine = 0; |
111 | 103 | ||
112 | UART_TypeDef *DebugUART = UART1; |
104 | UART_TypeDef *DebugUART = UART1; |
- | 105 | ||
- | 106 | #define UART1_BAUD_RATE 57600 //Baud Rate for the serial interfaces |
|
113 | 107 | ||
114 | volatile u8 txd_buffer[TXD_BUFFER_LEN]; |
108 | // the tx buffer |
115 | volatile u8 rxd_buffer_locked = FALSE; |
109 | #define UART1_TX_BUFFER_LEN 150 |
116 | volatile u8 rxd_buffer[RXD_BUFFER_LEN]; |
110 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
- | 111 | Buffer_t UART1_tx_buffer; |
|
117 | volatile u8 txd_complete = TRUE; |
112 | |
118 | volatile u8 ReceivedBytes = 0; |
113 | // the rx buffer |
119 | volatile u8 CntCrcError = 0; |
114 | #define UART1_RX_BUFFER_LEN 150 |
120 | volatile u8 *pRxData = NULL; |
115 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
- | 116 | Buffer_t UART1_rx_buffer; |
|
121 | volatile u8 RxDataLen = 0; |
117 | |
122 | volatile u8 SerialLinkOkay = 0; |
118 | volatile u8 SerialLinkOkay = 0; |
123 | 119 | ||
124 | u8 text[100]; |
120 | u8 text[100]; |
125 | 121 | ||
126 | u8 PcAccess = 100; |
122 | u8 PcAccess = 100; |
127 | u8 MotorTest[4] = {0,0,0,0}; |
- | |
128 | u8 ConfirmFrame = 0; |
123 | u8 ConfirmFrame = 0; |
129 | 124 | ||
130 | DebugOut_t DebugOut; |
125 | DebugOut_t DebugOut; |
131 | ExternControl_t ExternControl; |
126 | ExternControl_t ExternControl; |
132 | UART_VersionInfo_t UART_VersionInfo; |
127 | UART_VersionInfo_t UART_VersionInfo; |
133 | NaviData_t NaviData; |
128 | NaviData_t NaviData; |
134 | Waypoint_t FollowMe; |
129 | Waypoint_t FollowMe; |
135 | Data3D_t Data3D; |
130 | Data3D_t Data3D; |
136 | u16 Echo; // 2 bytes recieved will be sent back as echo |
131 | u16 Echo; // 2 bytes recieved will be sent back as echo |
137 | 132 | ||
138 | u32 DebugData_Timer; |
133 | u32 UART1_DebugData_Timer; |
139 | u32 DebugData_Interval = 5000; // in ms |
134 | u32 UART1_DebugData_Interval = 5000; // in ms |
140 | u32 NaviData_Timer; |
135 | u32 UART1_NaviData_Timer; |
141 | u32 NaviData_Interval = 5000; // in ms |
136 | u32 UART1_NaviData_Interval = 5000; // in ms |
142 | u32 Data3D_Timer = 0; // in ms |
137 | u32 UART1_Data3D_Timer = 0; // in ms |
143 | u32 Data3D_Interval = 0; |
- | |
144 | - | ||
145 | static u16 ptr_txd_buffer = 0; |
138 | u32 UART1_Data3D_Interval = 0; |
146 | 139 | ||
147 | const u8 ANALOG_LABEL[32][16] = |
140 | const u8 ANALOG_LABEL[32][16] = |
148 | { |
141 | { |
149 | //1234567890123456 |
142 | //1234567890123456 |
150 | "AngleNick ", //0 |
143 | "AngleNick ", //0 |
151 | "AngleRoll ", |
144 | "AngleRoll ", |
152 | "AccNick ", |
145 | "AccNick ", |
153 | "AccRoll ", |
146 | "AccRoll ", |
154 | " ", |
147 | " ", |
155 | "MK-Flags ", //5 |
148 | "MK-Flags ", //5 |
156 | "NC-Flags ", |
149 | "NC-Flags ", |
157 | " ", |
150 | " ", |
158 | " ", |
151 | " ", |
159 | "GPS Data ", |
152 | "GPS Data ", |
160 | "CompassHeading ", //10 |
153 | "CompassHeading ", //10 |
161 | "GyroHeading ", |
154 | "GyroHeading ", |
162 | "SPI Error ", |
155 | "SPI Error ", |
163 | "SPI Okay ", |
156 | "SPI Okay ", |
164 | "I2C Error ", |
157 | "I2C Error ", |
165 | "I2C Okay ", //15 |
158 | "I2C Okay ", //15 |
166 | " ",// "FC_Kalman_K ", |
159 | " ",// "FC_Kalman_K ", |
167 | "ACC_Speed_N ", |
160 | "ACC_Speed_N ", |
168 | "ACC_Speed_E ", |
161 | "ACC_Speed_E ", |
169 | " ",// "GPS ACC ", |
162 | " ",// "GPS ACC ", |
170 | " ",// "MAXDrift ", //20 |
163 | " ",// "MAXDrift ", //20 |
171 | "N_Speed ", |
164 | "N_Speed ", |
172 | "E_Speed ", |
165 | "E_Speed ", |
173 | "P-Part ", |
166 | "P-Part ", |
174 | "I-Part ", |
167 | "I-Part ", |
175 | "D-Part ",//25 |
168 | "D-Part ",//25 |
176 | "PID-Part ", |
169 | "PID-Part ", |
177 | "Distance N ", |
170 | "Distance N ", |
178 | "Distance E ", |
171 | "Distance E ", |
179 | "GPS_Nick ", |
172 | "GPS_Nick ", |
180 | "GPS_Roll ", //30 |
173 | "GPS_Roll ", //30 |
181 | "Used_Sats " |
174 | "Used_Sats " |
182 | }; |
175 | }; |
183 | 176 | ||
184 | 177 | ||
185 | /********************************************************/ |
178 | /********************************************************/ |
186 | /* Initialization the UART1 */ |
179 | /* Initialization the UART1 */ |
187 | /********************************************************/ |
180 | /********************************************************/ |
188 | void UART1_Init (void) |
181 | void UART1_Init (void) |
189 | { |
182 | { |
190 | GPIO_InitTypeDef GPIO_InitStructure; |
183 | GPIO_InitTypeDef GPIO_InitStructure; |
191 | UART_InitTypeDef UART_InitStructure; |
184 | UART_InitTypeDef UART_InitStructure; |
192 | 185 | ||
193 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
186 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
194 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
187 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
195 | 188 | ||
196 | /*Configure UART1_Rx pin GPIO3.2*/ |
189 | /*Configure UART1_Rx pin GPIO3.2*/ |
197 | GPIO_StructInit(&GPIO_InitStructure); |
190 | GPIO_StructInit(&GPIO_InitStructure); |
198 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
191 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
199 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
192 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
200 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
193 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
201 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
194 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
202 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
195 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
203 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
196 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
204 | 197 | ||
205 | /*Configure UART1_Tx pin GPIO3.3*/ |
198 | /*Configure UART1_Tx pin GPIO3.3*/ |
206 | GPIO_StructInit(&GPIO_InitStructure); |
199 | GPIO_StructInit(&GPIO_InitStructure); |
207 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
200 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
208 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
201 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
209 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
202 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
210 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
203 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
211 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
204 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
212 | 205 | ||
213 | /* UART1 configured as follow: |
206 | /* UART1 configured as follow: |
214 | - Word Length = 8 Bits |
207 | - Word Length = 8 Bits |
215 | - One Stop Bit |
208 | - One Stop Bit |
216 | - No parity |
209 | - No parity |
217 | - BaudRate = 57600 baud |
210 | - BaudRate = 57600 baud |
218 | - Hardware flow control Disabled |
211 | - Hardware flow control Disabled |
219 | - Receive and transmit enabled |
212 | - Receive and transmit enabled |
220 | - Receive and transmit FIFOs are Disabled |
213 | - Receive and transmit FIFOs are Disabled |
221 | */ |
214 | */ |
222 | UART_StructInit(&UART_InitStructure); |
215 | UART_StructInit(&UART_InitStructure); |
223 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
216 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
224 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
217 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
225 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
218 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
226 | UART_InitStructure.UART_BaudRate = BAUD_RATE; |
219 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
227 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
220 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
228 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
221 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
229 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
222 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
230 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
223 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
231 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
224 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
232 | 225 | ||
233 | UART_DeInit(UART1); // reset uart 1 to default |
226 | UART_DeInit(UART1); // reset uart 1 to default |
234 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
227 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
235 | // enable uart 1 interrupts selective |
228 | // enable uart 1 interrupts selective |
236 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
229 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
237 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
230 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
238 | // configure the uart 1 interupt line as an IRQ with priority 4 (0 is highest) |
231 | // configure the uart 1 interupt line as an IRQ with priority 4 (0 is highest) |
239 | VIC_Config(UART1_ITLine, VIC_IRQ, 4); |
232 | VIC_Config(UART1_ITLine, VIC_IRQ, 4); |
240 | // enable the uart 1 IRQ |
233 | // enable the uart 1 IRQ |
241 | VIC_ITCmd(UART1_ITLine, ENABLE); |
234 | VIC_ITCmd(UART1_ITLine, ENABLE); |
242 | // initialize the debug timer |
235 | // initialize the debug timer |
243 | DebugData_Timer = SetDelay(DebugData_Interval); |
236 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
244 | NaviData_Timer = SetDelay(NaviData_Interval)+500; |
237 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
- | 238 | ||
245 | // unlock rxd_buffer |
239 | // initialize txd buffer |
- | 240 | UART1_tx_buffer.pData = UART1_tbuffer; |
|
- | 241 | UART1_tx_buffer.Size = UART1_TX_BUFFER_LEN; |
|
- | 242 | UART1_tx_buffer.Position = 0; |
|
246 | rxd_buffer_locked = FALSE; |
243 | UART1_tx_buffer.Locked = FALSE; |
- | 244 | ||
247 | pRxData = NULL; |
245 | // initialize rxd buffer |
248 | RxDataLen = 0; |
246 | UART1_rx_buffer.pData = UART1_rbuffer; |
- | 247 | UART1_rx_buffer.Size = UART1_RX_BUFFER_LEN; |
|
249 | // no bytes to send |
248 | UART1_rx_buffer.Position = 0; |
250 | txd_complete = TRUE; |
249 | UART1_rx_buffer.Locked = FALSE; |
- | 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 | SerialPutString("\r\nUART1 init...ok"); |
260 | UART1_PutString("\r\nUART1 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 u16 crc; |
- | |
270 | static u8 ptr_rxd_buffer = 0; |
- | |
271 | static u8 crc1, crc2; |
- | |
272 | static u8 abortState = 0; |
269 | static u8 abortState = 0; |
273 | u8 c; |
270 | u8 c; |
274 | 271 | ||
275 | 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) ) |
276 | { |
273 | { |
277 | // clear the pending bits |
274 | // clear the pending bits |
278 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
275 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
279 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
276 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
280 | // if debug UART is not UART1 |
277 | // if debug UART is not UART1 |
281 | if (DebugUART != UART1) |
278 | if (DebugUART != UART1) |
282 | { // forward received data to the debug UART tx buffer |
279 | { // forward received data to the debug UART tx buffer |
283 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
280 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
284 | { |
281 | { |
285 | // wait for space in the tx buffer of the DebugUART |
- | |
286 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
- | |
287 | // 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 |
288 | c = UART_ReceiveData(UART1); |
283 | c = UART_ReceiveData(UART1); |
289 | 284 | ||
290 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
285 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
291 | switch (abortState) |
286 | switch (abortState) |
292 | { |
287 | { |
293 | case 0: if (c == 27) abortState++; |
288 | case 0: if (c == 27) abortState++; |
294 | break; |
289 | break; |
295 | case 1: if (c == 27) abortState++; else abortState = 0; |
290 | case 1: if (c == 27) abortState++; else abortState = 0; |
296 | break; |
291 | break; |
297 | case 2: if (c == 0x55) abortState++; else abortState = 0; |
292 | case 2: if (c == 0x55) abortState++; else abortState = 0; |
298 | break; |
293 | break; |
299 | case 3: if (c == 0xAA) abortState++; else abortState = 0; |
294 | case 3: if (c == 0xAA) abortState++; else abortState = 0; |
300 | break; |
295 | break; |
301 | case 4: if (c == 0x00) |
296 | case 4: if (c == 0x00) |
302 | { |
297 | { |
303 | DebugUART = UART1; |
298 | DebugUART = UART1; |
304 | UART0_Connect_to_MKGPS(); |
299 | UART0_Connect_to_MKGPS(); |
305 | } |
300 | } |
306 | abortState = 0; |
301 | abortState = 0; |
307 | break; |
302 | break; |
308 | } |
303 | } |
- | 304 | // if the Debug uart is not UART1rederect input to the Debug UART |
|
- | 305 | if (DebugUART != UART1) |
|
309 | 306 | { |
|
- | 307 | // wait for space in the tx buffer of the DebugUART |
|
- | 308 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
|
- | 309 | // move byte to the tx fifi of the debug uart |
|
310 | if (DebugUART != UART1) UART_SendData(DebugUART, c); |
310 | UART_SendData(DebugUART, c); |
- | 311 | } |
|
311 | } |
312 | } |
312 | } |
313 | } |
313 | else // DebugUART == UART1 (normal operation) |
314 | else // DebugUART == UART1 (normal operation) |
314 | { |
315 | { |
315 | while ((UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) && (!rxd_buffer_locked)) |
316 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
316 | { // some byes in the fifo and rxd buffer not locked |
317 | { // some byes in the fifo and rxd buffer not locked |
317 | // get byte from fifo |
318 | // get byte from fifo |
318 | c = UART_ReceiveData(UART1); |
319 | c = UART_ReceiveData(UART1); |
319 | if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
- | |
320 | { |
- | |
321 | rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
- | |
322 | crc = c; // init crc |
- | |
323 | } |
- | |
324 | #if 0 |
- | |
325 | else if (ptr_rxd_buffer == 1) // handle address |
- | |
326 | { |
- | |
327 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
- | |
328 | crc += c; // update crc |
- | |
329 | } |
- | |
330 | #endif |
- | |
331 | else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // rxd buffer not full |
- | |
332 | { |
- | |
333 | if (c != '\r') // no termination character received |
- | |
334 | { |
- | |
335 | rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
- | |
336 | crc += c; // update crc |
- | |
337 | } |
- | |
338 | else // termination character received |
- | |
339 | { |
- | |
340 | // the last 2 bytes are no subject for checksum calculation |
- | |
341 | // they are the checksum itself |
- | |
342 | crc -= rxd_buffer[ptr_rxd_buffer-2]; |
- | |
343 | crc -= rxd_buffer[ptr_rxd_buffer-1]; |
320 | MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c); |
344 | // calculate checksum from transmitted data |
- | |
345 | crc %= 4096; |
- | |
346 | crc1 = '=' + crc / 64; |
- | |
347 | crc2 = '=' + crc % 64; |
- | |
348 | // compare checksum to transmitted checksum bytes |
- | |
349 | if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
- | |
350 | { // checksum valid |
- | |
351 | rxd_buffer_locked = TRUE; // lock the rxd buffer |
- | |
352 | ReceivedBytes = ptr_rxd_buffer + 1; // store number of received bytes |
- | |
353 | rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
- | |
354 | // if 2nd byte is an 'R' start bootloader |
- | |
355 | if(rxd_buffer[2] == 'R') |
- | |
356 | { |
- | |
357 | PowerOff(); |
- | |
358 | VIC_DeInit(); |
- | |
359 | Execute_Bootloader(); // Reset-Commando - Bootloader starten |
- | |
360 | } |
- | |
361 | } // eof checksum valid |
- | |
362 | else |
- | |
363 | { // checksum invalid |
- | |
364 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
- | |
365 | } // eof checksum invalid |
- | |
366 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
- | |
367 | } // eof termination character received |
- | |
368 | } // rxd buffer not full |
- | |
369 | else // rxd buffer overrun |
- | |
370 | { |
- | |
371 | ptr_rxd_buffer = 0; // reset rxd buffer pointer |
- | |
372 | rxd_buffer_locked = FALSE; // unlock rxd buffer |
- | |
373 | } // eof rxd buffer overrrun |
- | |
374 | } // some byes in the fifo and rxd buffer not locked |
321 | } // some byes in the fifo and rxd buffer not locked |
375 | } // eof DebugUart = UART1 |
322 | } // eof DebugUart = UART1 |
376 | } |
323 | } |
377 | } |
324 | } |
378 | 325 | ||
379 | /**************************************************************/ |
326 | /**************************************************************/ |
380 | /* Transmit tx buffer via debug uart */ |
- | |
381 | /**************************************************************/ |
- | |
382 | void UART1_Transmit(void) |
- | |
383 | { |
- | |
384 | u8 tmp_tx; |
- | |
385 | // if something has to be send and the txd fifo is not full |
- | |
386 | if((!txd_complete) && (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == RESET)) |
- | |
387 | { |
- | |
388 | tmp_tx = txd_buffer[ptr_txd_buffer]; // read byte from txd buffer |
- | |
389 | // if terminating character or end of txd buffer reached |
- | |
390 | if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
- | |
391 | { |
- | |
392 | ptr_txd_buffer = 0; // reset txd buffer pointer |
- | |
393 | txd_complete = TRUE;// set complete flag |
- | |
394 | } |
- | |
395 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
- | |
396 | // set pointer to next byte |
- | |
397 | ptr_txd_buffer++; |
- | |
398 | } |
- | |
399 | } |
- | |
400 | - | ||
401 | /**************************************************************/ |
- | |
402 | /* Add CRC and initiate transmission via debug uart */ |
- | |
403 | /**************************************************************/ |
- | |
404 | void AddCRC(u16 datalen) |
- | |
405 | { |
- | |
406 | u16 tmpCRC = 0, i; |
- | |
407 | for(i = 0; i < datalen; i++) |
- | |
408 | { |
- | |
409 | tmpCRC += txd_buffer[i]; |
- | |
410 | } |
- | |
411 | tmpCRC %= 4096; |
- | |
412 | txd_buffer[i++] = '=' + tmpCRC / 64; |
- | |
413 | txd_buffer[i++] = '=' + tmpCRC % 64; |
- | |
414 | txd_buffer[i++] = '\r'; |
- | |
415 | - | ||
416 | ptr_txd_buffer = 0; |
- | |
417 | txd_complete = FALSE; |
- | |
418 | UART_SendData(UART1, txd_buffer[ptr_txd_buffer++]); // send first byte, to be continued in the txd irq |
- | |
419 | } |
- | |
420 | - | ||
421 | - | ||
422 | - | ||
423 | /**************************************************************/ |
- | |
424 | /* Code output data */ |
- | |
425 | /**************************************************************/ |
- | |
426 | void SendOutData(u8 cmd, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, .... |
- | |
427 | { |
- | |
428 | va_list ap; |
- | |
429 | - | ||
430 | u16 pt = 0; |
- | |
431 | u8 a,b,c; |
- | |
432 | u8 ptr = 0; |
- | |
433 | - | ||
434 | u8* pdata = NULL; |
- | |
435 | int len = 0; |
- | |
436 | - | ||
437 | txd_buffer[pt++] = '#'; // Start character |
- | |
438 | txd_buffer[pt++] = 'a' + Address; // Address (a=0; b=1,...) |
- | |
439 | txd_buffer[pt++] = cmd; // Command |
- | |
440 | - | ||
441 | va_start(ap, numofbuffers); |
- | |
442 | if(numofbuffers) |
- | |
443 | { |
- | |
444 | pdata = va_arg(ap, u8*); |
- | |
445 | len = va_arg(ap, int); |
- | |
446 | ptr = 0; |
- | |
447 | numofbuffers--; |
- | |
448 | } |
- | |
449 | while(len) |
- | |
450 | { |
- | |
451 | if(len) |
- | |
452 | { |
- | |
453 | a = pdata[ptr++]; |
- | |
454 | len--; |
- | |
455 | if((!len) && numofbuffers) // try to jump to next buffer |
- | |
456 | { |
- | |
457 | pdata = va_arg(ap, u8*); |
- | |
458 | len = va_arg(ap, int); |
- | |
459 | ptr = 0; |
- | |
460 | numofbuffers--; |
- | |
461 | } |
- | |
462 | } |
- | |
463 | else a = 0; |
- | |
464 | if(len) |
- | |
465 | { |
- | |
466 | b = pdata[ptr++]; |
- | |
467 | len--; |
- | |
468 | if((!len) && numofbuffers) // try to jump to next buffer |
- | |
469 | { |
- | |
470 | pdata = va_arg(ap, u8*); |
- | |
471 | len = va_arg(ap, int); |
- | |
472 | ptr = 0; |
- | |
473 | numofbuffers--; |
- | |
474 | } |
- | |
475 | } |
- | |
476 | else b = 0; |
- | |
477 | if(len) |
- | |
478 | { |
- | |
479 | c = pdata[ptr++]; |
- | |
480 | len--; |
- | |
481 | if((!len) && numofbuffers) // try to jump to next buffer |
- | |
482 | { |
- | |
483 | pdata = va_arg(ap, u8*); |
- | |
484 | len = va_arg(ap, int); |
- | |
485 | ptr = 0; |
- | |
486 | numofbuffers--; |
- | |
487 | } |
- | |
488 | } |
- | |
489 | else c = 0; |
- | |
490 | txd_buffer[pt++] = '=' + (a >> 2); |
- | |
491 | txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
- | |
492 | txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
- | |
493 | txd_buffer[pt++] = '=' + ( c & 0x3f); |
- | |
494 | } |
- | |
495 | va_end(ap); |
- | |
496 | AddCRC(pt); // add checksum after data block and initates the transmission |
- | |
497 | } |
- | |
498 | - | ||
499 | - | ||
500 | /**************************************************************/ |
- | |
501 | /* Decode data */ |
- | |
502 | /**************************************************************/ |
- | |
503 | void Decode64(void) |
- | |
504 | { |
- | |
505 | u8 a,b,c,d; |
- | |
506 | u8 x,y,z; |
- | |
507 | u8 ptrIn = 3; // start with first data byte in rx buffer |
- | |
508 | u8 ptrOut = 3; |
- | |
509 | u8 len = ReceivedBytes - 6; // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload ) |
- | |
510 | while(len) |
- | |
511 | { |
- | |
512 | a = rxd_buffer[ptrIn++] - '='; |
- | |
513 | b = rxd_buffer[ptrIn++] - '='; |
- | |
514 | c = rxd_buffer[ptrIn++] - '='; |
- | |
515 | d = rxd_buffer[ptrIn++] - '='; |
- | |
516 | //if(ptrIn > ReceivedBytes - 3) break; |
- | |
517 | - | ||
518 | x = (a << 2) | (b >> 4); |
- | |
519 | y = ((b & 0x0f) << 4) | (c >> 2); |
- | |
520 | z = ((c & 0x03) << 6) | d; |
- | |
521 | - | ||
522 | if(len--) rxd_buffer[ptrOut++] = x; else break; |
- | |
523 | if(len--) rxd_buffer[ptrOut++] = y; else break; |
- | |
524 | if(len--) rxd_buffer[ptrOut++] = z; else break; |
- | |
525 | } |
- | |
526 | pRxData = &rxd_buffer[3]; |
- | |
527 | RxDataLen = ptrOut - 3; |
- | |
528 | } |
- | |
529 | - | ||
530 | /**************************************************************/ |
- | |
531 | /* Process incomming data from debug uart */ |
327 | /* Process incomming data from debug uart */ |
532 | /**************************************************************/ |
328 | /**************************************************************/ |
533 | void UART1_ProcessRxData(void) |
329 | void UART1_ProcessRxData(void) |
534 | { |
330 | { |
- | 331 | SerialMsg_t SerialMsg; |
|
535 | // if data in the rxd buffer are not locked immediately return |
332 | // if data in the rxd buffer are not locked immediately return |
536 | if((!rxd_buffer_locked) || (DebugUART != UART1) ) return; |
333 | if((UART1_rx_buffer.Locked == FALSE) || (DebugUART != UART1) ) return; |
537 | Waypoint_t * pWaypoint = NULL; |
334 | Waypoint_t * pWaypoint = NULL; |
538 | 335 | ||
539 | PcAccess = 255; |
336 | PcAccess = 255; |
540 | Decode64(); // decode data block in rxd buffer |
337 | MKProtocol_DecodeSerialFrame(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
541 | if(rxd_buffer[2] != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
338 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
542 | switch(rxd_buffer[1] - 'a') // check for Slave Address |
339 | switch(SerialMsg.Address) // check for Slave Address |
543 | { |
340 | { |
544 | case NC_ADDRESS: // own Slave Address |
341 | case NC_ADDRESS: // own Slave Address |
545 | switch(rxd_buffer[2]) |
342 | switch(SerialMsg.CmdID) |
546 | { |
343 | { |
547 | case 'z': // connection checker |
344 | case 'z': // connection checker |
548 | memcpy(&Echo, (u8*)pRxData, sizeof(Echo)); // copy echo pattern |
345 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
549 | Request_Echo = TRUE; |
346 | UART1_Request_Echo = TRUE; |
550 | break; |
347 | break; |
551 | 348 | ||
552 | case 'e': // request for the text of the error status |
349 | case 'e': // request for the text of the error status |
553 | Request_ErrorMessage = TRUE; |
350 | UART1_Request_ErrorMessage = TRUE; |
554 | break; |
351 | break; |
555 | 352 | ||
556 | case 's':// new target position |
353 | case 's':// new target position |
557 | pWaypoint = (Waypoint_t*)&pRxData[0]; |
354 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
558 | BeepTime = 300; |
355 | BeepTime = 300; |
559 | if(pWaypoint->Position.Status == NEWDATA) |
356 | if(pWaypoint->Position.Status == NEWDATA) |
560 | { |
357 | { |
561 | WPList_Clear(); // empty WPList |
358 | WPList_Clear(); // empty WPList |
562 | WPList_Append(pWaypoint); |
359 | WPList_Append(pWaypoint); |
563 | GPS_pWaypoint = WPList_Begin(); |
360 | GPS_pWaypoint = WPList_Begin(); |
564 | } |
361 | } |
565 | break; |
362 | break; |
566 | 363 | ||
567 | case 'u': // redirect debug uart |
364 | case 'u': // redirect debug uart |
568 | switch(pRxData[0]) |
365 | switch(SerialMsg.pData[0]) |
569 | { |
366 | { |
570 | case UART_FLIGHTCTRL: |
367 | case UART_FLIGHTCTRL: |
571 | UART2_Init(); // initialize UART2 to FC pins |
368 | UART2_Init(); // initialize UART2 to FC pins |
572 | DebugUART = UART2; |
369 | DebugUART = UART2; |
573 | break; |
370 | break; |
574 | case UART_MK3MAG: |
371 | case UART_MK3MAG: |
575 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
372 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
576 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
373 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
577 | GPSData.Status = INVALID; |
374 | GPSData.Status = INVALID; |
578 | DebugUART = UART0; |
375 | DebugUART = UART0; |
579 | break; |
376 | break; |
580 | case UART_MKGPS: |
377 | case UART_MKGPS: |
581 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
378 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
582 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
379 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
583 | GPSData.Status = INVALID; |
380 | GPSData.Status = INVALID; |
584 | DebugUART = UART0; |
381 | DebugUART = UART0; |
585 | break; |
382 | break; |
586 | } |
383 | } |
587 | break; |
384 | break; |
588 | 385 | ||
589 | case 'w':// Append Waypoint to List |
386 | case 'w':// Append Waypoint to List |
590 | pWaypoint = (Waypoint_t*)&pRxData[0]; |
387 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
591 | if(pWaypoint->Position.Status == INVALID) |
388 | if(pWaypoint->Position.Status == INVALID) |
592 | { // clear WP List |
389 | { // clear WP List |
593 | WPList_Clear(); |
390 | WPList_Clear(); |
594 | GPS_pWaypoint = WPList_Begin(); |
391 | GPS_pWaypoint = WPList_Begin(); |
595 | //SerialPutString("\r\nClear WP List\r\n"); |
392 | //UART1_PutString("\r\nClear WP List\r\n"); |
596 | } |
393 | } |
597 | else if (pWaypoint->Position.Status == NEWDATA) |
394 | else if (pWaypoint->Position.Status == NEWDATA) |
598 | { // app current WP to the list |
395 | { // app current WP to the list |
599 | WPList_Append(pWaypoint); |
396 | WPList_Append(pWaypoint); |
600 | BeepTime = 500; |
397 | BeepTime = 500; |
601 | //SerialPutString("\r\nAdd WP to List\r\n"); |
398 | //UART1_PutString("\r\nAdd WP to List\r\n"); |
602 | } |
399 | } |
603 | Request_NewWaypoint = TRUE; |
400 | UART1_Request_NewWaypoint = TRUE; |
604 | break; |
401 | break; |
605 | 402 | ||
606 | case 'x':// Read Waypoint from List |
403 | case 'x':// Read Waypoint from List |
607 | Request_ReadWaypoint = pRxData[0]; |
404 | UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
608 | break; |
405 | break; |
609 | 406 | ||
610 | default: |
407 | default: |
611 | // unsupported command recieved |
408 | // unsupported command recieved |
612 | break; |
409 | break; |
613 | } // case NC_ADDRESS |
410 | } // case NC_ADDRESS |
614 | // "break;" is missing here to fall thru to the common commands |
411 | // "break;" is missing here to fall thru to the common commands |
615 | 412 | ||
616 | default: // and any other Slave Address |
413 | default: // and any other Slave Address |
617 | 414 | ||
618 | switch(rxd_buffer[2]) // check CmdID |
415 | switch(SerialMsg.CmdID) // check CmdID |
619 | { |
416 | { |
620 | case 'a':// request for the labels of the analog debug outputs |
417 | case 'a':// request for the labels of the analog debug outputs |
621 | Request_DebugLabel = pRxData[0]; |
418 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
622 | if(Request_DebugLabel > 31) Request_DebugLabel = 31; |
419 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
623 | break; |
420 | break; |
624 | 421 | ||
625 | case 'b': // submit extern control |
422 | case 'b': // submit extern control |
626 | memcpy(&ExternControl, (u8*)&pRxData[0], sizeof(ExternControl)); |
423 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
627 | ConfirmFrame = ExternControl.Frame; |
424 | ConfirmFrame = ExternControl.Frame; |
628 | break; |
425 | break; |
629 | 426 | ||
630 | case 'd': // request for debug data; |
427 | case 'd': // request for debug data; |
631 | DebugData_Interval = (u32) pRxData[0] * 10; |
428 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
632 | if(DebugData_Interval > 0) Request_DebugData = TRUE; |
429 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
633 | break; |
430 | break; |
634 | 431 | ||
635 | case 'c': // request for 3D data; |
432 | case 'c': // request for 3D data; |
636 | Data3D_Interval = (u32) pRxData[0] * 10; |
433 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
637 | if(Data3D_Interval > 0) Request_Data3D = TRUE; |
434 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
638 | break; |
435 | break; |
639 | 436 | ||
640 | case 'g':// request for external control data |
437 | case 'g':// request for external control data |
641 | Request_ExternalControl = TRUE; |
438 | UART1_Request_ExternalControl = TRUE; |
642 | break; |
439 | break; |
643 | 440 | ||
644 | case 'h':// reqest for display line |
441 | case 'h':// reqest for display line |
645 | RemoteKeys |= pRxData[0]; |
442 | RemoteKeys |= SerialMsg.pData[0]; |
646 | if(RemoteKeys != 0) DisplayLine = 0; |
443 | if(RemoteKeys != 0) DisplayLine = 0; |
647 | Request_Display = TRUE; |
444 | UART1_Request_Display = TRUE; |
648 | break; |
445 | break; |
649 | 446 | ||
650 | case 'l':// reqest for display columns |
447 | case 'l':// reqest for display columns |
651 | MenuItem = pRxData[0]; |
448 | MenuItem = SerialMsg.pData[0]; |
652 | Request_Display1 = TRUE; |
449 | UART1_Request_Display1 = TRUE; |
653 | break; |
450 | break; |
654 | 451 | ||
655 | case 'o': // request for navigation information |
452 | case 'o': // request for navigation information |
656 | NaviData_Interval = (u32) pRxData[0] * 10; |
453 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
657 | if(NaviData_Interval > 0) Request_NaviData = TRUE; |
454 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
658 | break; |
455 | break; |
659 | 456 | ||
660 | case 'v': // request for version info |
457 | case 'v': // request for version info |
661 | Request_VerInfo = TRUE; |
458 | UART1_Request_VersionInfo = TRUE; |
662 | break; |
459 | break; |
663 | default: |
460 | default: |
664 | // unsupported command recieved |
461 | // unsupported command recieved |
665 | break; |
462 | break; |
666 | } |
463 | } |
667 | break; // default: |
464 | break; // default: |
668 | } |
465 | } |
669 | // unlock the rxd buffer after processing |
466 | // unlock the rxd buffer after processing |
670 | pRxData = NULL; |
- | |
671 | RxDataLen = 0; |
467 | UART1_rx_buffer.Position = 0; |
672 | rxd_buffer_locked = FALSE; |
468 | UART1_rx_buffer.Locked = FALSE; |
673 | } |
469 | } |
674 | 470 | ||
675 | 471 | ||
676 | /*****************************************************/ |
472 | /*****************************************************/ |
677 | /* Send a character */ |
473 | /* Send a character */ |
678 | /*****************************************************/ |
474 | /*****************************************************/ |
679 | s16 uart_putchar (char c) |
475 | s16 UART1_Putchar(char c) |
680 | { |
476 | { |
681 | if (c == '\n') uart_putchar('\r'); |
477 | if (c == '\n') UART1_Putchar('\r'); |
682 | // wait until txd fifo is not full |
478 | // wait until txd fifo is not full |
683 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
479 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
684 | // transmit byte |
480 | // transmit byte |
685 | UART_SendData(UART1, c); |
481 | UART_SendData(UART1, c); |
686 | return (0); |
482 | return (0); |
687 | } |
483 | } |
688 | 484 | ||
689 | /*****************************************************/ |
485 | /*****************************************************/ |
690 | /* Send a string to the debug uart */ |
486 | /* Send a string to the debug uart */ |
691 | /*****************************************************/ |
487 | /*****************************************************/ |
692 | void SerialPutString(u8 *s) |
488 | void UART1_PutString(u8 *s) |
693 | { |
489 | { |
694 | if(s == NULL) return; |
490 | if(s == NULL) return; |
695 | while (*s != '\0' && DebugUART == UART1) |
491 | while (*s != '\0' && DebugUART == UART1) |
696 | { |
492 | { |
697 | uart_putchar(*s); |
493 | UART1_Putchar(*s); |
698 | s ++; |
494 | s ++; |
699 | } |
495 | } |
700 | } |
496 | } |
- | 497 | ||
- | 498 | /**************************************************************/ |
|
- | 499 | /* Transmit tx buffer via debug uart */ |
|
- | 500 | /**************************************************************/ |
|
- | 501 | void UART1_Transmit(void) |
|
- | 502 | { |
|
- | 503 | u8 tmp_tx; |
|
- | 504 | if(DebugUART != UART1) return; |
|
- | 505 | // if something has to be send and the txd fifo is not full |
|
- | 506 | if((UART1_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == RESET)) |
|
- | 507 | { |
|
- | 508 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
|
- | 509 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
|
- | 510 | // if terminating character or end of txd buffer reached |
|
- | 511 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.Size)) |
|
- | 512 | { |
|
- | 513 | UART1_tx_buffer.Position = 0; // reset txd buffer positon |
|
- | 514 | UART1_tx_buffer.Locked = FALSE;// unlock tx buffer |
|
- | 515 | } |
|
- | 516 | } |
|
701 | 517 | } |
|
702 | 518 | ||
703 | 519 | ||
704 | /**************************************************************/ |
520 | /**************************************************************/ |
705 | /* Send the answers to incomming commands at the debug uart */ |
521 | /* Send the answers to incomming commands at the debug uart */ |
706 | /**************************************************************/ |
522 | /**************************************************************/ |
707 | void UART1_TransmitTxData(void) |
523 | void UART1_TransmitTxData(void) |
708 | { |
524 | { |
709 | if(!txd_complete || (DebugUART != UART1) ) return; |
525 | if(DebugUART != UART1) return; |
- | 526 | UART1_Transmit(); // output pending bytes in tx buffer |
|
- | 527 | if((UART1_tx_buffer.Locked == TRUE)) return; |
|
710 | 528 | ||
711 | if(Request_Echo && txd_complete) |
529 | if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
712 | { |
530 | { |
713 | SendOutData('Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
531 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
714 | Echo = 0; // reset echo value |
532 | Echo = 0; // reset echo value |
715 | Request_Echo = FALSE; |
533 | UART1_Request_Echo = FALSE; |
716 | } |
534 | } |
717 | if(Request_DebugLabel != 0xFF) |
535 | if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
718 | { |
536 | { |
719 | SendOutData('A', NC_ADDRESS, 2, &Request_DebugLabel, sizeof(Request_DebugLabel), (u8 *) ANALOG_LABEL[Request_DebugLabel], 16); |
537 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
720 | Request_DebugLabel = 0xFF; |
538 | UART1_Request_DebugLabel = 0xFF; |
721 | } |
539 | } |
722 | if(ConfirmFrame && txd_complete) |
540 | if(ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
723 | { |
541 | { |
724 | SendOutData('B', NC_ADDRESS, 1, &ConfirmFrame, sizeof(ConfirmFrame)); |
542 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &ConfirmFrame, sizeof(ConfirmFrame)); |
725 | ConfirmFrame = 0; |
543 | ConfirmFrame = 0; |
726 | } |
544 | } |
727 | if( (( (DebugData_Interval > 0) && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete) |
545 | if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
728 | { |
546 | { |
729 | SendOutData('D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
547 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
730 | DebugData_Timer = SetDelay(DebugData_Interval); |
548 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
731 | Request_DebugData = FALSE; |
549 | UART1_Request_DebugData = FALSE; |
732 | } |
550 | } |
733 | 551 | ||
734 | if((( (Data3D_Interval > 0) && CheckDelay(Data3D_Timer) ) || Request_Data3D) && txd_complete) |
552 | if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
735 | { |
553 | { |
736 | SendOutData('C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
554 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
737 | Data3D_Timer = SetDelay(Data3D_Interval); |
555 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
738 | Request_Data3D = FALSE; |
556 | UART1_Request_Data3D = FALSE; |
739 | } |
557 | } |
740 | 558 | ||
741 | if(Request_ExternalControl && txd_complete) |
559 | if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
742 | { |
560 | { |
743 | SendOutData('G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
561 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
744 | Request_ExternalControl = FALSE; |
562 | UART1_Request_ExternalControl = FALSE; |
745 | } |
563 | } |
746 | if(Request_Display && txd_complete) |
564 | if(UART1_Request_Display && (UART1_tx_buffer.Locked == FALSE)) |
747 | { |
565 | { |
748 | LCD_PrintMenu(); |
566 | LCD_PrintMenu(); |
749 | SendOutData('H', NC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (u8*)&DisplayBuff[DisplayLine * 20], 20); |
567 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (u8*)&DisplayBuff[DisplayLine * 20], 20); |
750 | DisplayLine++; |
568 | DisplayLine++; |
751 | if(DisplayLine >= 4) DisplayLine = 0; |
569 | if(DisplayLine >= 4) DisplayLine = 0; |
752 | Request_Display = FALSE; |
570 | UART1_Request_Display = FALSE; |
753 | } |
571 | } |
754 | if(Request_Display1 && txd_complete) |
572 | if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
755 | { |
573 | { |
756 | LCD_PrintMenu(); |
574 | LCD_PrintMenu(); |
757 | SendOutData('L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
575 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
758 | Request_Display1 = FALSE; |
576 | UART1_Request_Display1 = FALSE; |
759 | } |
577 | } |
760 | if(Request_VerInfo && txd_complete) |
578 | if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
761 | { |
579 | { |
762 | SendOutData('V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
580 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
763 | Request_VerInfo = FALSE; |
581 | UART1_Request_VersionInfo = FALSE; |
764 | } |
582 | } |
765 | if(( (NaviData_Interval && CheckDelay(NaviData_Timer) ) || Request_NaviData) && txd_complete) |
- | |
766 | { |
583 | if(( (UART1_NaviData_Interval && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
767 | NaviData.Errorcode = ErrorCode; |
584 | { |
768 | SendOutData('O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
585 | NaviData.Errorcode = ErrorCode; |
769 | if (DebugUART == UART1) SendOutData0('O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
586 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
770 | NaviData_Timer = SetDelay(NaviData_Interval); |
587 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
771 | Request_NaviData = FALSE; |
588 | UART1_Request_NaviData = FALSE; |
772 | } |
589 | } |
773 | if(Request_ErrorMessage && txd_complete) |
590 | if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
774 | { |
591 | { |
775 | SendOutData('E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
592 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
776 | Request_ErrorMessage = FALSE; |
593 | UART1_Request_ErrorMessage = FALSE; |
777 | } |
594 | } |
778 | if(Request_SendFollowMe && txd_complete && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
595 | if(UART1_Request_SendFollowMe && (UART1_tx_buffer.Locked == FALSE) && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
779 | { |
596 | { |
780 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
597 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
781 | FollowMe.Position.Status = NEWDATA; |
598 | FollowMe.Position.Status = NEWDATA; |
782 | FollowMe.Heading = -1; |
599 | FollowMe.Heading = -1; |
783 | FollowMe.ToleranceRadius = 1; |
600 | FollowMe.ToleranceRadius = 1; |
784 | FollowMe.HoldTime = 60; |
601 | FollowMe.HoldTime = 60; |
785 | FollowMe.Event_Flag = 0; |
602 | FollowMe.Event_Flag = 0; |
786 | FollowMe.reserve[0] = 0; // reserve |
603 | FollowMe.reserve[0] = 0; // reserve |
787 | FollowMe.reserve[1] = 0; // reserve |
604 | FollowMe.reserve[1] = 0; // reserve |
788 | FollowMe.reserve[2] = 0; // reserve |
605 | FollowMe.reserve[2] = 0; // reserve |
789 | FollowMe.reserve[3] = 0; // reserve |
606 | FollowMe.reserve[3] = 0; // reserve |
790 | SendOutData('s', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
607 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
791 | Request_SendFollowMe = FALSE; |
608 | UART1_Request_SendFollowMe = FALSE; |
792 | } |
609 | } |
793 | - | ||
794 | if(Request_NewWaypoint && txd_complete) |
610 | if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE)) |
795 | { |
611 | { |
796 | u8 WPNumber = WPList_GetCount(); |
612 | u8 WPNumber = WPList_GetCount(); |
797 | SendOutData('W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
613 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
798 | Request_NewWaypoint = FALSE; |
614 | UART1_Request_NewWaypoint = FALSE; |
799 | } |
615 | } |
800 | - | ||
801 | if((Request_ReadWaypoint != 0xFF) && txd_complete) |
616 | if((UART1_Request_ReadWaypoint != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
802 | { |
617 | { |
803 | u8 WPNumber = WPList_GetCount(); |
618 | u8 WPNumber = WPList_GetCount(); |
804 | if (Request_ReadWaypoint < WPNumber) |
619 | if (UART1_Request_ReadWaypoint < WPNumber) |
805 | { |
620 | { |
806 | SendOutData('X', NC_ADDRESS, 3, &WPNumber, 1, &Request_ReadWaypoint, 1, WPList_GetAt(Request_ReadWaypoint), sizeof(Waypoint_t)); |
621 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &UART1_Request_ReadWaypoint, 1, WPList_GetAt(UART1_Request_ReadWaypoint), sizeof(Waypoint_t)); |
807 | } |
622 | } |
808 | else |
623 | else |
809 | { |
624 | { |
810 | SendOutData('X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
625 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
811 | } |
626 | } |
812 | Request_ReadWaypoint = 0xFF; |
627 | UART1_Request_ReadWaypoint = 0xFF; |
813 | } |
628 | } |
814 | - | ||
- | 629 | UART1_Transmit(); // output pending bytes in tx buffer |
|
815 | } |
630 | } |
816 | 631 | ||
817 | 632 |