WebSVN - NaviCtrl - Diff - Rev 231 and 243


/*#######################################################################################*/
/* !!! 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.
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
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// + Benutzung auf eigene Gefahr
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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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#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 "compass.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         ",
        "                ",
        "                ",
        "                ",//25
        "                ",
        "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 'v': // version
                        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))
        {
                DebugOut.Analog[24] = MagVector.X;
                DebugOut.Analog[25] = MagVector.Y;
                DebugOut.Analog[26] = MagVector.Z;
                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 231	Rev 243
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 "compass.h"
73	#include "waypoints.h"	74	#include "waypoints.h"
74	#include "mkprotocol.h"	75	#include "mkprotocol.h"
75	#include "params.h"	76	#include "params.h"
76	#include "fifo.h"	77	#include "fifo.h"
77		78
78	#define FALSE 0	79	#define FALSE 0
79	#define TRUE 1	80	#define TRUE 1
80		81
81	#define ABO_TIMEOUT 4000 // disable abo after 4 seconds	82	#define ABO_TIMEOUT 4000 // disable abo after 4 seconds
82	u32 UART1_AboTimeOut = 0;	83	u32 UART1_AboTimeOut = 0;
83		84
84	u8 UART1_Request_VersionInfo = FALSE;	85	u8 UART1_Request_VersionInfo = FALSE;
85	u8 UART1_Request_ExternalControl= FALSE;	86	u8 UART1_Request_ExternalControl= FALSE;
86	u8 UART1_Request_Display = FALSE;	87	u8 UART1_Request_Display = FALSE;
87	u8 UART1_Request_Display1 = FALSE;	88	u8 UART1_Request_Display1 = FALSE;
88	u8 UART1_Request_DebugData = FALSE;	89	u8 UART1_Request_DebugData = FALSE;
89	u8 UART1_Request_DebugLabel = 255;	90	u8 UART1_Request_DebugLabel = 255;
90	u8 UART1_Request_NaviData = FALSE;	91	u8 UART1_Request_NaviData = FALSE;
91	u8 UART1_Request_ErrorMessage = FALSE;	92	u8 UART1_Request_ErrorMessage = FALSE;
92	u8 UART1_Request_NewWaypoint = FALSE;	93	u8 UART1_Request_NewWaypoint = FALSE;
93	u8 UART1_Request_ReadWaypoint = 0;	94	u8 UART1_Request_ReadWaypoint = 0;
94	u8 UART1_Request_Data3D = FALSE;	95	u8 UART1_Request_Data3D = FALSE;
95	u8 UART1_Request_Echo = FALSE;	96	u8 UART1_Request_Echo = FALSE;
96	u8 UART1_Request_ParameterId = 0;	97	u8 UART1_Request_ParameterId = 0;
97	u8 UART1_Request_Parameter = FALSE;	98	u8 UART1_Request_Parameter = FALSE;
98	u8 UART1_DisplayKeys = 0;	99	u8 UART1_DisplayKeys = 0;
99	u8 UART1_DisplayLine = 0;	100	u8 UART1_DisplayLine = 0;
100	u8 UART1_ConfirmFrame = 0;	101	u8 UART1_ConfirmFrame = 0;
101		102
102	UART_TypeDef *DebugUART = UART1;	103	UART_TypeDef *DebugUART = UART1;
103		104
104	// the primary rx fifo	105	// the primary rx fifo
105	#define UART1_RX_FIFO_LEN 1024	106	#define UART1_RX_FIFO_LEN 1024
106	u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN];	107	u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN];
107	fifo_t UART1_rx_fifo;	108	fifo_t UART1_rx_fifo;
108		109
109	// the rx buffer	110	// the rx buffer
110	#define UART1_RX_BUFFER_LEN 150	111	#define UART1_RX_BUFFER_LEN 150
111	u8 UART1_rbuffer[UART1_RX_BUFFER_LEN];	112	u8 UART1_rbuffer[UART1_RX_BUFFER_LEN];
112	Buffer_t UART1_rx_buffer;	113	Buffer_t UART1_rx_buffer;
113		114
114	// the tx buffer	115	// the tx buffer
115	#define UART1_TX_BUFFER_LEN 150	116	#define UART1_TX_BUFFER_LEN 150
116	u8 UART1_tbuffer[UART1_TX_BUFFER_LEN];	117	u8 UART1_tbuffer[UART1_TX_BUFFER_LEN];
117	Buffer_t UART1_tx_buffer;	118	Buffer_t UART1_tx_buffer;
118		119
119		120
120		121
121	volatile u8 SerialLinkOkay = 0;	122	volatile u8 SerialLinkOkay = 0;
122		123
123	u8 text[200];	124	u8 text[200];
124		125
125	const u8 ANALOG_LABEL[32][16] =	126	const u8 ANALOG_LABEL[32][16] =
126	{	127	{
127	//1234567890123456	128	//1234567890123456
128	"AngleNick ", //0	129	"AngleNick ", //0
129	"AngleRoll ",	130	"AngleRoll ",
130	"AccNick ",	131	"AccNick ",
131	"AccRoll ",	132	"AccRoll ",
132	"OperatingRadius ",	133	"OperatingRadius ",
133	"FC-Flags ", //5	134	"FC-Flags ", //5
134	"NC-Flags ",	135	"NC-Flags ",
135	"NickServo ",	136	"NickServo ",
136	"RollServo ",	137	"RollServo ",
137	"GPS Data ",	138	"GPS Data ",
138	"CompassHeading ", //10	139	"CompassHeading ", //10
139	"GyroHeading ",	140	"GyroHeading ",
140	"SPI Error ",	141	"SPI Error ",
141	"SPI Okay ",	142	"SPI Okay ",
142	"I2C Error ",	143	"I2C Error ",
143	"I2C Okay ", //15	144	"I2C Okay ", //15
144	" ",// "Kalman_K ",	145	" ",// "Kalman_K ",
145	"ACC_Speed_N ",	146	"ACC_Speed_N ",
146	"ACC_Speed_E ",	147	"ACC_Speed_E ",
147	"Speed_z ",// "GPS ACC ",	148	"Speed_z ",// "GPS ACC ",
148	" ",// "MAXDrift ", //20	149	" ",// "MAXDrift ", //20
149	"N_Speed ",	150	"N_Speed ",
150	"E_Speed ",	151	"E_Speed ",
151	" ",	152	" ",
152	" ",	153	" ",
153	" ",//25	154	" ",//25
154	" ",	155	" ",
155	"Distance N ",	156	"Distance N ",
156	"Distance E ",	157	"Distance E ",
157	"GPS_Nick ",	158	"GPS_Nick ",
158	"GPS_Roll ", //30	159	"GPS_Roll ", //30
159	"Used_Sats "	160	"Used_Sats "
160	};	161	};
161		162
162	DebugOut_t DebugOut;	163	DebugOut_t DebugOut;
163	ExternControl_t ExternControl;	164	ExternControl_t ExternControl;
164	UART_VersionInfo_t UART_VersionInfo;	165	UART_VersionInfo_t UART_VersionInfo;
165	NaviData_t NaviData;	166	NaviData_t NaviData;
166	Data3D_t Data3D;	167	Data3D_t Data3D;
167	u16 Echo; // 2 bytes recieved will be sent back as echo	168	u16 Echo; // 2 bytes recieved will be sent back as echo
168		169
169	u32 UART1_DebugData_Timer = 0;	170	u32 UART1_DebugData_Timer = 0;
170	u32 UART1_DebugData_Interval = 0; // in ms	171	u32 UART1_DebugData_Interval = 0; // in ms
171	u32 UART1_NaviData_Timer = 0;	172	u32 UART1_NaviData_Timer = 0;
172	u32 UART1_NaviData_Interval = 0; // in ms	173	u32 UART1_NaviData_Interval = 0; // in ms
173	u32 UART1_Data3D_Timer = 0;	174	u32 UART1_Data3D_Timer = 0;
174	u32 UART1_Data3D_Interval = 0; // in ms	175	u32 UART1_Data3D_Interval = 0; // in ms
175	u32 UART1_Display_Timer = 0;	176	u32 UART1_Display_Timer = 0;
176	u32 UART1_Display_Interval = 0; // in ms	177	u32 UART1_Display_Interval = 0; // in ms
177		178
178	/********************************************************/	179	/********************************************************/
179	/* Initialization the UART1 */	180	/* Initialization the UART1 */
180	/********************************************************/	181	/********************************************************/
181	void UART1_Init (void)	182	void UART1_Init (void)
182	{	183	{
183	GPIO_InitTypeDef GPIO_InitStructure;	184	GPIO_InitTypeDef GPIO_InitStructure;
184	UART_InitTypeDef UART_InitStructure;	185	UART_InitTypeDef UART_InitStructure;
185		186
186	// initialize txd buffer	187	// initialize txd buffer
187	Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN);	188	Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN);
188		189
189	// initialize rxd buffer	190	// initialize rxd buffer
190	Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN);	191	Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN);
191		192
192	// initialize the rx fifo	193	// initialize the rx fifo
193	fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN);	194	fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN);
194		195
195	SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock	196	SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock
196	SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock	197	SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock
197		198
198	/Configure UART1_Rx pin GPIO3.2/	199	/Configure UART1_Rx pin GPIO3.2/
199	GPIO_StructInit(&GPIO_InitStructure);	200	GPIO_StructInit(&GPIO_InitStructure);
200	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;	201	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
201	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;	202	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
202	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;	203	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
203	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;	204	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
204	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD	205	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD
205	GPIO_Init(GPIO3, &GPIO_InitStructure);	206	GPIO_Init(GPIO3, &GPIO_InitStructure);
206		207
207	/Configure UART1_Tx pin GPIO3.3/	208	/Configure UART1_Tx pin GPIO3.3/
208	GPIO_StructInit(&GPIO_InitStructure);	209	GPIO_StructInit(&GPIO_InitStructure);
209	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;	210	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
210	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;	211	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
211	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;	212	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
212	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX	213	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX
213	GPIO_Init(GPIO3, &GPIO_InitStructure);	214	GPIO_Init(GPIO3, &GPIO_InitStructure);
214		215
215	/* UART1 configured as follow:	216	/* UART1 configured as follow:
216	- Word Length = 8 Bits	217	- Word Length = 8 Bits
217	- One Stop Bit	218	- One Stop Bit
218	- No parity	219	- No parity
219	- BaudRate = 57600 baud	220	- BaudRate = 57600 baud
220	- Hardware flow control Disabled	221	- Hardware flow control Disabled
221	- Receive and transmit enabled	222	- Receive and transmit enabled
222	- Receive and transmit FIFOs are Disabled	223	- Receive and transmit FIFOs are Disabled
223	*/	224	*/
224	UART_StructInit(&UART_InitStructure);	225	UART_StructInit(&UART_InitStructure);
225	UART_InitStructure.UART_WordLength = UART_WordLength_8D;	226	UART_InitStructure.UART_WordLength = UART_WordLength_8D;
226	UART_InitStructure.UART_StopBits = UART_StopBits_1;	227	UART_InitStructure.UART_StopBits = UART_StopBits_1;
227	UART_InitStructure.UART_Parity = UART_Parity_No ;	228	UART_InitStructure.UART_Parity = UART_Parity_No ;
228	UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE;	229	UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE;
229	UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None;	230	UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None;
230	UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx;	231	UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx;
231	UART_InitStructure.UART_FIFO = UART_FIFO_Enable;	232	UART_InitStructure.UART_FIFO = UART_FIFO_Enable;
232	UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2;	233	UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2;
233	UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2;	234	UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2;
234		235
235	UART_DeInit(UART1); // reset uart 1 to default	236	UART_DeInit(UART1); // reset uart 1 to default
236	UART_Init(UART1, &UART_InitStructure); // initialize uart 1	237	UART_Init(UART1, &UART_InitStructure); // initialize uart 1
237	// enable uart 1 interrupts selective	238	// enable uart 1 interrupts selective
238	UART_ITConfig(UART1, UART_IT_Receive \| UART_IT_ReceiveTimeOut, ENABLE);	239	UART_ITConfig(UART1, UART_IT_Receive \| UART_IT_ReceiveTimeOut, ENABLE);
239	UART_Cmd(UART1, ENABLE); // enable uart 1	240	UART_Cmd(UART1, ENABLE); // enable uart 1
240	// configure the uart 1 interupt line	241	// configure the uart 1 interupt line
241	VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1);	242	VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1);
242	// enable the uart 1 IRQ	243	// enable the uart 1 IRQ
243	VIC_ITCmd(UART1_ITLine, ENABLE);	244	VIC_ITCmd(UART1_ITLine, ENABLE);
244		245
245	// initialize the debug timer	246	// initialize the debug timer
246	UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval);	247	UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval);
247	UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500;	248	UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500;
248		249
249	// Fill Version Info Structure	250	// Fill Version Info Structure
250	UART_VersionInfo.SWMajor = VERSION_MAJOR;	251	UART_VersionInfo.SWMajor = VERSION_MAJOR;
251	UART_VersionInfo.SWMinor = VERSION_MINOR;	252	UART_VersionInfo.SWMinor = VERSION_MINOR;
252	UART_VersionInfo.SWPatch = VERSION_PATCH;	253	UART_VersionInfo.SWPatch = VERSION_PATCH;
253	UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;	254	UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;
254	UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;	255	UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;
255		256
256	NaviData.Version = NAVIDATA_VERSION;	257	NaviData.Version = NAVIDATA_VERSION;
257		258
258	UART1_PutString("\r\n UART1 init...ok");	259	UART1_PutString("\r\n UART1 init...ok");
259	}	260	}
260		261
261		262
262	/****************************************************************/	263	/****************************************************************/
263	/* USART1 receiver ISR */	264	/* USART1 receiver ISR */
264	/****************************************************************/	265	/****************************************************************/
265	void UART1_IRQHandler(void)	266	void UART1_IRQHandler(void)
266	{	267	{
267	static u8 abortState = 0;	268	static u8 abortState = 0;
268	u8 c;	269	u8 c;
269		270
270	IENABLE;	271	IENABLE;
271		272
272	if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) \|\| (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) )	273	if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) \|\| (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) )
273	{	274	{
274	// clear the pending bits!	275	// clear the pending bits!
275	UART_ClearITPendingBit(UART1, UART_IT_Receive);	276	UART_ClearITPendingBit(UART1, UART_IT_Receive);
276	UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut);	277	UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut);
277	// if debug UART is not UART1	278	// if debug UART is not UART1
278	if (DebugUART != UART1)	279	if (DebugUART != UART1)
279	{ // forward received data to the debug UART tx buffer	280	{ // forward received data to the debug UART tx buffer
280	while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)	281	while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)
281	{	282	{
282	// move the byte from the rx buffer of UART1 to the tx buffer of DebugUART	283	// move the byte from the rx buffer of UART1 to the tx buffer of DebugUART
283	c = UART_ReceiveData(UART1);	284	c = UART_ReceiveData(UART1);
284		285
285	// check for abort condition (ESC ESC 0x55 0xAA 0x00)	286	// check for abort condition (ESC ESC 0x55 0xAA 0x00)
286	switch (abortState)	287	switch (abortState)
287	{	288	{
288	case 0:	289	case 0:
289	if (c == 27) abortState++;	290	if (c == 27) abortState++;
290	break;	291	break;
291	case 1:	292	case 1:
292	if (c == 27) abortState++;	293	if (c == 27) abortState++;
293	else abortState = 0;	294	else abortState = 0;
294	break;	295	break;
295	case 2:	296	case 2:
296	if (c == 0x55) abortState++;	297	if (c == 0x55) abortState++;
297	else abortState = 0;	298	else abortState = 0;
298	break;	299	break;
299	case 3:	300	case 3:
300	if (c == 0xAA) abortState++;	301	if (c == 0xAA) abortState++;
301	else abortState = 0;	302	else abortState = 0;
302	break;	303	break;
303	case 4:	304	case 4:
304	if (c == 0x00)	305	if (c == 0x00)
305	{	306	{
306	if(DebugUART == UART0)	307	if(DebugUART == UART0)
307	{	308	{
308	UART0_Connect_to_MKGPS();	309	UART0_Connect_to_MKGPS();
309	TIMER2_Init(); // enbable servo outputs	310	TIMER2_Init(); // enbable servo outputs
310	fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer	311	fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer
311	}	312	}
312	DebugUART = UART1;	313	DebugUART = UART1;
313	}	314	}
314	abortState = 0;	315	abortState = 0;
315	break;	316	break;
316	} // end switch abort state	317	} // end switch abort state
317	// if the Debug uart is not UART1, redirect input to the Debug UART	318	// if the Debug uart is not UART1, redirect input to the Debug UART
318	if (DebugUART != UART1)	319	if (DebugUART != UART1)
319	{	320	{
320	// wait for space in the tx buffer of the DebugUART	321	// wait for space in the tx buffer of the DebugUART
321	while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {};	322	while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {};
322	// move byte to the tx fifo of the debug uart	323	// move byte to the tx fifo of the debug uart
323	UART_SendData(DebugUART, c);	324	UART_SendData(DebugUART, c);
324	}	325	}
325	}	326	}
326	}	327	}
327	else // DebugUART == UART1 (normal operation)	328	else // DebugUART == UART1 (normal operation)
328	{	329	{
329	while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)	330	while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)
330	{ // some byes in the hardware fifo	331	{ // some byes in the hardware fifo
331	// get byte from hardware fifo	332	// get byte from hardware fifo
332	c = UART_ReceiveData(UART1);	333	c = UART_ReceiveData(UART1);
333	// put into the software fifo	334	// put into the software fifo
334	if(!fifo_put(&UART1_rx_fifo, c))	335	if(!fifo_put(&UART1_rx_fifo, c))
335	{ // fifo overflow	336	{ // fifo overflow
336	//fifo_purge(&UART1_rx_fifo); // flush the whole buffer	337	//fifo_purge(&UART1_rx_fifo); // flush the whole buffer
337	}	338	}
338	} // EOF while some byes in the hardware fifo	339	} // EOF while some byes in the hardware fifo
339	} // eof DebugUart = UART1	340	} // eof DebugUart = UART1
340	}	341	}
341		342
342	IDISABLE;	343	IDISABLE;
343	}	344	}
344		345
345	/**************************************************************/	346	/**************************************************************/
346	/* Process incomming data from debug uart */	347	/* Process incomming data from debug uart */
347	/**************************************************************/	348	/**************************************************************/
348	void UART1_ProcessRxData(void)	349	void UART1_ProcessRxData(void)
349	{	350	{
350	// return on forwarding uart or unlocked rx buffer	351	// return on forwarding uart or unlocked rx buffer
351	if(DebugUART != UART1) return;	352	if(DebugUART != UART1) return;
352		353
353	u8 c;	354	u8 c;
354	// if rx buffer is not locked	355	// if rx buffer is not locked
355	if(UART1_rx_buffer.Locked == FALSE)	356	if(UART1_rx_buffer.Locked == FALSE)
356	{ //collect data from primary rx fifo	357	{ //collect data from primary rx fifo
357	while(fifo_get(&UART1_rx_fifo, &c))	358	while(fifo_get(&UART1_rx_fifo, &c))
358	{ // break if complete frame is collected	359	{ // break if complete frame is collected
359	if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break;	360	if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break;
360	}	361	}
361	}	362	}
362	if(UART1_rx_buffer.Locked == FALSE) return;	363	if(UART1_rx_buffer.Locked == FALSE) return;
363		364
364	Waypoint_t * pWaypoint = NULL;	365	Waypoint_t * pWaypoint = NULL;
365	SerialMsg_t SerialMsg;	366	SerialMsg_t SerialMsg;
366		367
367	// analyze header first	368	// analyze header first
368	MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg);	369	MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg);
369	if( SerialMsg.Address == FC_ADDRESS )	370	if( SerialMsg.Address == FC_ADDRESS )
370	{	371	{
371	switch(SerialMsg.CmdID)	372	switch(SerialMsg.CmdID)
372	{	373	{
373	// case 'v': // version	374	// case 'v': // version
374	case 'y': // serial poti values	375	case 'y': // serial poti values
375	case 'b': // extern control	376	case 'b': // extern control
376	Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC	377	Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC
377	Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame	378	Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame
378	return; //end process rx data	379	return; //end process rx data
379	break;	380	break;
380	}	381	}
381	}	382	}
382		383
383	MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer	384	MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer
384	if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping"	385	if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping"
385	switch(SerialMsg.Address) // check for Slave Address	386	switch(SerialMsg.Address) // check for Slave Address
386	{	387	{
387	case NC_ADDRESS: // own Slave Address	388	case NC_ADDRESS: // own Slave Address
388	switch(SerialMsg.CmdID)	389	switch(SerialMsg.CmdID)
389	{	390	{
390	case 'z': // connection checker	391	case 'z': // connection checker
391	memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern	392	memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern
392	UART1_Request_Echo = TRUE;	393	UART1_Request_Echo = TRUE;
393	break;	394	break;
394		395
395	case 'e': // request for the text of the error status	396	case 'e': // request for the text of the error status
396	UART1_Request_ErrorMessage = TRUE;	397	UART1_Request_ErrorMessage = TRUE;
397	break;	398	break;
398		399
399	case 's':// new target position	400	case 's':// new target position
400	pWaypoint = (Waypoint_t*)SerialMsg.pData;	401	pWaypoint = (Waypoint_t*)SerialMsg.pData;
401	BeepTime = 300;	402	BeepTime = 300;
402	if(pWaypoint->Position.Status == NEWDATA)	403	if(pWaypoint->Position.Status == NEWDATA)
403	{	404	{
404	WPList_Clear(); // empty WPList	405	WPList_Clear(); // empty WPList
405	WPList_Append(pWaypoint);	406	WPList_Append(pWaypoint);
406	GPS_pWaypoint = WPList_Begin();	407	GPS_pWaypoint = WPList_Begin();
407	}	408	}
408	break;	409	break;
409		410
410	case 'u': // redirect debug uart	411	case 'u': // redirect debug uart
411	switch(SerialMsg.pData[0])	412	switch(SerialMsg.pData[0])
412	{	413	{
413	case UART_FLIGHTCTRL:	414	case UART_FLIGHTCTRL:
414	UART2_Init(); // initialize UART2 to FC pins	415	UART2_Init(); // initialize UART2 to FC pins
415	fifo_purge(&UART1_rx_fifo);	416	fifo_purge(&UART1_rx_fifo);
416	TIMER2_Deinit(); // reduce irq load	417	TIMER2_Deinit(); // reduce irq load
417	DebugUART = UART2;	418	DebugUART = UART2;
418	break;	419	break;
419	case UART_MK3MAG:	420	case UART_MK3MAG:
420	if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running	421	if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running
421	UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins	422	UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins
422	GPSData.Status = INVALID;	423	GPSData.Status = INVALID;
423	fifo_purge(&UART1_rx_fifo);	424	fifo_purge(&UART1_rx_fifo);
424	DebugUART = UART0;	425	DebugUART = UART0;
425	break;	426	break;
426	case UART_MKGPS:	427	case UART_MKGPS:
427	if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running	428	if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running
428	TIMER2_Deinit(); // disable servo outputs to reduce irq load	429	TIMER2_Deinit(); // disable servo outputs to reduce irq load
429	UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins	430	UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins
430	GPSData.Status = INVALID;	431	GPSData.Status = INVALID;
431	fifo_purge(&UART1_rx_fifo);	432	fifo_purge(&UART1_rx_fifo);
432	DebugUART = UART0;	433	DebugUART = UART0;
433	break;	434	break;
434	default:	435	default:
435	break;	436	break;
436	}	437	}
437	break;	438	break;
438		439
439	case 'w':// Append Waypoint to List	440	case 'w':// Append Waypoint to List
440	{	441	{
441	pWaypoint = (Waypoint_t*)SerialMsg.pData;	442	pWaypoint = (Waypoint_t*)SerialMsg.pData;
442	//sprintf(text, "\r\nI=%d, S=%d,T=%d\r\n",pWaypoint->Index, pWaypoint->Position.Status, pWaypoint->Type);	443	//sprintf(text, "\r\nI=%d, S=%d,T=%d\r\n",pWaypoint->Index, pWaypoint->Position.Status, pWaypoint->Type);
443	//UART1_PutString(text);	444	//UART1_PutString(text);
444		445
445	if((pWaypoint->Position.Status == INVALID) && (pWaypoint->Index == 0))	446	if((pWaypoint->Position.Status == INVALID) && (pWaypoint->Index == 0))
446	{	447	{
447	WPList_Clear();	448	WPList_Clear();
448	GPS_pWaypoint = WPList_Begin();	449	GPS_pWaypoint = WPList_Begin();
449	UART1_Request_NewWaypoint = TRUE; // return new WP number	450	UART1_Request_NewWaypoint = TRUE; // return new WP number
450	}	451	}
451	else	452	else
452	{ // app current WP to the list	453	{ // app current WP to the list
453	if (pWaypoint->Index == (WPList_GetCount() + 1))	454	if (pWaypoint->Index == (WPList_GetCount() + 1))
454	{	455	{
455	WPList_Append(pWaypoint);	456	WPList_Append(pWaypoint);
456	BeepTime = 500;	457	BeepTime = 500;
457	UART1_Request_NewWaypoint = TRUE; // return new WP number	458	UART1_Request_NewWaypoint = TRUE; // return new WP number
458	}	459	}
459	}	460	}
460	}	461	}
461	break;	462	break;
462		463
463	case 'x':// Read Waypoint from List	464	case 'x':// Read Waypoint from List
464	UART1_Request_ReadWaypoint = SerialMsg.pData[0];	465	UART1_Request_ReadWaypoint = SerialMsg.pData[0];
465	break;	466	break;
466		467
467	case 'j':// Set/Get NC-Parameter	468	case 'j':// Set/Get NC-Parameter
468	switch(SerialMsg.pData[0])	469	switch(SerialMsg.pData[0])
469	{	470	{
470	case 0: // get	471	case 0: // get
471	break;	472	break;
472		473
473	case 1: // set	474	case 1: // set
474	{	475	{
475	s16 value;	476	s16 value;
476	value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100;	477	value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100;
477	NCParams_SetValue(SerialMsg.pData[1], &value);	478	NCParams_SetValue(SerialMsg.pData[1], &value);
478	}	479	}
479	break;	480	break;
480		481
481	default:	482	default:
482	break;	483	break;
483	}	484	}
484	UART1_Request_ParameterId = SerialMsg.pData[1];	485	UART1_Request_ParameterId = SerialMsg.pData[1];
485	UART1_Request_Parameter = TRUE;	486	UART1_Request_Parameter = TRUE;
486	break;	487	break;
487	default:	488	default:
488	// unsupported command recieved	489	// unsupported command recieved
489	break;	490	break;
490	} // case NC_ADDRESS	491	} // case NC_ADDRESS
491	// "break;" is missing here to fall thru to the common commands	492	// "break;" is missing here to fall thru to the common commands
492		493
493	default: // and any other Slave Address	494	default: // and any other Slave Address
494		495
495	switch(SerialMsg.CmdID) // check CmdID	496	switch(SerialMsg.CmdID) // check CmdID
496	{	497	{
497	case 'a':// request for the labels of the analog debug outputs	498	case 'a':// request for the labels of the analog debug outputs
498	UART1_Request_DebugLabel = SerialMsg.pData[0];	499	UART1_Request_DebugLabel = SerialMsg.pData[0];
499	if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31;	500	if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31;

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(root)/tags/V0.28h/uart1.c @ 814 - Rev 231 → 243