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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + with our written permission |
40 | // + with our written permission |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
44 | // |
44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | 57 | #include <stdio.h> |
|
57 | #include <string.h> |
58 | #include <string.h> |
58 | #include "91x_lib.h" |
59 | #include "91x_lib.h" |
59 | #include "config.h" |
60 | #include "config.h" |
60 | #include "main.h" |
61 | #include "main.h" |
61 | #include "uart1.h" |
62 | #include "uart1.h" |
62 | #include "usb.h" |
- | |
63 | #include "mkprotocol.h" |
63 | #include "mkprotocol.h" |
64 | #include "waypoints.h" |
64 | #include "waypoints.h" |
65 | #include "gps.h" |
65 | #include "gps.h" |
66 | #include "timer1.h" |
66 | #include "timer1.h" |
67 | #include "uart0.h" |
67 | #include "uart0.h" |
68 | #include "uart1.h" |
68 | #include "uart1.h" |
69 | #include "uart2.h" |
69 | #include "uart2.h" |
70 | #include "menu.h" |
70 | #include "menu.h" |
- | 71 | #include "usb.h" |
|
71 | 72 | ||
72 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
73 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
73 | u32 USB_AboTimeOut = 0; |
74 | u32 USB_AboTimeOut = 0; |
- | 75 | ||
- | 76 | u16 Echo; // 2 bytes recieved will be sent back as echo |
|
- | 77 | ||
- | 78 | // the primary rx fifo |
|
- | 79 | #define USB_RX_FIFO_LEN 512 |
|
- | 80 | u8 USB_rxfifobuffer[USB_RX_FIFO_LEN]; |
|
- | 81 | fifo_t USB_rx_fifo; |
|
74 | 82 | ||
75 | // the tx buffer |
83 | // the tx buffer |
76 | #define USB_TX_BUFFER_LEN 150 |
84 | #define USB_TX_BUFFER_LEN 150 |
77 | u8 USB_tbuffer[USB_TX_BUFFER_LEN]; |
85 | u8 USB_tbuffer[USB_TX_BUFFER_LEN]; |
78 | Buffer_t USB_tx_buffer; |
86 | Buffer_t USB_tx_buffer; |
79 | 87 | ||
80 | // the rx buffer |
88 | // the rx buffer |
81 | #define USB_RX_BUFFER_LEN 150 |
89 | #define USB_RX_BUFFER_LEN 150 |
82 | u8 USB_rbuffer[USB_RX_BUFFER_LEN]; |
90 | u8 USB_rbuffer[USB_RX_BUFFER_LEN]; |
83 | Buffer_t USB_rx_buffer; |
91 | Buffer_t USB_rx_buffer; |
84 | 92 | ||
85 | u8 USB_Request_VersionInfo = FALSE; |
93 | u8 USB_Request_VersionInfo = FALSE; |
86 | u8 USB_Request_SendFollowMe = FALSE; |
94 | u8 USB_Request_SendFollowMe = FALSE; |
87 | u8 USB_Request_ExternalControl= FALSE; |
95 | u8 USB_Request_ExternalControl= FALSE; |
88 | u8 USB_Request_Display = FALSE; |
96 | u8 USB_Request_Display = FALSE; |
89 | u8 USB_Request_Display1 = FALSE; |
97 | u8 USB_Request_Display1 = FALSE; |
90 | u8 USB_Request_DebugData = FALSE; |
98 | u8 USB_Request_DebugData = FALSE; |
91 | u8 USB_Request_DebugLabel = 255; |
99 | u8 USB_Request_DebugLabel = 255; |
92 | u8 USB_Request_NaviData = FALSE; |
100 | u8 USB_Request_NaviData = FALSE; |
93 | u8 USB_Request_ErrorMessage = FALSE; |
101 | u8 USB_Request_ErrorMessage = FALSE; |
94 | u8 USB_Request_NewWaypoint = FALSE; |
102 | u8 USB_Request_NewWaypoint = FALSE; |
95 | u8 USB_Request_ReadWaypoint = 255; |
103 | u8 USB_Request_ReadWaypoint = 255; |
96 | u8 USB_Request_Data3D = FALSE; |
104 | u8 USB_Request_Data3D = FALSE; |
97 | u8 USB_Request_Echo = FALSE; |
105 | u8 USB_Request_Echo = FALSE; |
98 | - | ||
99 | u8 USB_DisplayKeys = 0; |
106 | u8 USB_DisplayKeys = 0; |
- | 107 | u8 USB_DisplayLine = 0; |
|
100 | u8 USB_ConfirmFrame = 0; |
108 | u8 USB_ConfirmFrame = 0; |
101 | 109 | ||
102 | u32 USB_DebugData_Timer = 0; |
110 | u32 USB_DebugData_Timer = 0; |
103 | u32 USB_DebugData_Interval = 0; // in ms |
111 | u32 USB_DebugData_Interval = 0; // in ms |
104 | u32 USB_NaviData_Timer = 0; |
112 | u32 USB_NaviData_Timer = 0; |
105 | u32 USB_NaviData_Interval = 0; // in ms |
113 | u32 USB_NaviData_Interval = 0; // in ms |
106 | u32 USB_Data3D_Timer = 0; |
114 | u32 USB_Data3D_Timer = 0; |
107 | u32 USB_Data3D_Interval = 0; // in ms |
115 | u32 USB_Data3D_Interval = 0; // in ms |
108 | u32 USB_Display_Timer = 0; |
116 | u32 USB_Display_Timer = 0; |
109 | u32 USB_Display_Interval = 0; // in ms |
117 | u32 USB_Display_Interval = 0; // in ms |
110 | 118 | ||
111 | //----------------------------------------------------------------- |
119 | //----------------------------------------------------------------- |
112 | void USB_ConfigInit(void) |
120 | void USB_ConfigInit(void) |
113 | { |
121 | { |
114 | GPIO_InitTypeDef GPIO_InitStructure; |
122 | GPIO_InitTypeDef GPIO_InitStructure; |
115 | 123 | ||
116 | UART1_PutString("\r\n USB init..."); |
124 | UART1_PutString("\r\n USB init..."); |
117 | #ifdef MCLK96MHZ |
125 | #ifdef MCLK96MHZ |
118 | //USB clock = MCLK/2 = 48MHz |
126 | //USB clock = MCLK/2 = 48MHz |
119 | SCU_USBCLKConfig(SCU_USBCLK_MCLK2); |
127 | SCU_USBCLKConfig(SCU_USBCLK_MCLK2); |
120 | #else |
128 | #else |
121 | //USB clock = MCLK = 48MHz |
129 | //USB clock = MCLK = 48MHz |
122 | SCU_USBCLKConfig(SCU_USBCLK_MCLK); |
130 | SCU_USBCLKConfig(SCU_USBCLK_MCLK); |
123 | #endif |
131 | #endif |
124 | //Enable USB clock |
132 | //Enable USB clock |
125 | SCU_AHBPeriphClockConfig(__USB,ENABLE); |
133 | SCU_AHBPeriphClockConfig(__USB,ENABLE); |
126 | SCU_AHBPeriphReset(__USB,DISABLE); |
134 | SCU_AHBPeriphReset(__USB,DISABLE); |
127 | SCU_AHBPeriphClockConfig(__USB48M,ENABLE); |
135 | SCU_AHBPeriphClockConfig(__USB48M,ENABLE); |
128 | 136 | ||
129 | //Configure GPIO0 (D+ Pull-Up on P0.1) |
137 | //Configure GPIO0 (D+ Pull-Up on P0.1) |
130 | SCU_APBPeriphClockConfig(__GPIO0 ,ENABLE); |
138 | SCU_APBPeriphClockConfig(__GPIO0 ,ENABLE); |
131 | SCU_APBPeriphReset(__GPIO0,DISABLE); |
139 | SCU_APBPeriphReset(__GPIO0,DISABLE); |
132 | 140 | ||
133 | // GPIO_DeInit(P0.1); |
141 | // GPIO_DeInit(P0.1); |
134 | GPIO_StructInit(&GPIO_InitStructure); |
142 | GPIO_StructInit(&GPIO_InitStructure); |
135 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
143 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
136 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
144 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
137 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
145 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
138 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
146 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
139 | GPIO_InitStructure.GPIO_Alternate=GPIO_OutputAlt1; |
147 | GPIO_InitStructure.GPIO_Alternate=GPIO_OutputAlt1; |
140 | GPIO_Init (GPIO0, &GPIO_InitStructure); |
148 | GPIO_Init (GPIO0, &GPIO_InitStructure); |
- | 149 | ||
- | 150 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
|
- | 151 | fifo_init(&USB_rx_fifo, USB_rxfifobuffer, USB_RX_FIFO_LEN, NO_ITLine, USBLP_ITLine); |
|
141 | 152 | ||
142 | // initialize txd buffer |
153 | // initialize txd buffer |
143 | Buffer_Init(&USB_tx_buffer, USB_tbuffer, USB_TX_BUFFER_LEN); |
154 | Buffer_Init(&USB_tx_buffer, USB_tbuffer, USB_TX_BUFFER_LEN); |
144 | 155 | ||
145 | // initialize rxd buffer |
156 | // initialize rxd buffer |
146 | Buffer_Init(&USB_rx_buffer, USB_rbuffer, USB_RX_BUFFER_LEN); |
157 | Buffer_Init(&USB_rx_buffer, USB_rbuffer, USB_RX_BUFFER_LEN); |
147 | - | ||
148 | PowerOff(); |
- | |
149 | Virtual_Com_Port_Reset(); |
- | |
150 | 158 | ||
151 | VIC_Config(USBLP_ITLine, VIC_IRQ, PRIORITY_USB); |
159 | VIC_Config(USBLP_ITLine, VIC_IRQ, PRIORITY_USB); |
152 | VIC_ITCmd(USBLP_ITLine, ENABLE); |
160 | VIC_ITCmd(USBLP_ITLine, ENABLE); |
153 | 161 | ||
154 | USB_Init(); |
162 | USB_Init(); |
155 | 163 | ||
156 | UART1_PutString("ok"); |
164 | UART1_PutString("ok"); |
157 | } |
165 | } |
158 | 166 | ||
159 | 167 | ||
160 | /**************************************************************/ |
168 | /**************************************************************/ |
161 | /* Process incomming data from debug uart */ |
169 | /* Process incomming data from debug uart */ |
162 | /**************************************************************/ |
170 | /**************************************************************/ |
163 | void USB_ProcessRxData(void) |
171 | void USB_ProcessRxData(void) |
164 | { |
172 | { |
- | 173 | u8 c; |
|
165 | SerialMsg_t SerialMsg; |
174 | SerialMsg_t SerialMsg; |
166 | Waypoint_t * pWaypoint = NULL; |
175 | Waypoint_t * pWaypoint = NULL; |
167 | // if data in the rxd buffer are not locked immediately return |
176 | // if data in the rxd buffer are not locked immediately return |
- | 177 | // if rx buffer is not locked |
|
- | 178 | if(USB_rx_buffer.Locked == FALSE) |
|
- | 179 | { |
|
- | 180 | //collect data from primary rx fifo |
|
- | 181 | while(fifo_get(&USB_rx_fifo, &c)) |
|
- | 182 | { |
|
- | 183 | // break if complete frame has been collected |
|
- | 184 | if(MKProtocol_CollectSerialFrame(&USB_rx_buffer, c)) break; |
|
- | 185 | } |
|
- | 186 | } |
|
168 | if((USB_rx_buffer.Locked == FALSE) || (DebugUART != UART1) ) return; |
187 | if(USB_rx_buffer.Locked == FALSE) return; |
169 | 188 | ||
170 | MKProtocol_DecodeSerialFrameHeader(&USB_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
189 | MKProtocol_DecodeSerialFrameHeader(&USB_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
171 | MKProtocol_DecodeSerialFrameData(&USB_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
190 | MKProtocol_DecodeSerialFrameData(&USB_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
172 | 191 | ||
173 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
192 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
174 | switch(SerialMsg.Address) // check for Slave Address |
193 | switch(SerialMsg.Address) // check for Slave Address |
175 | { |
194 | { |
176 | case NC_ADDRESS: // own Slave Address |
195 | case NC_ADDRESS: // own Slave Address |
177 | switch(SerialMsg.CmdID) |
196 | switch(SerialMsg.CmdID) |
178 | { |
197 | { |
- | 198 | case 'z': // connection checker |
|
- | 199 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
|
- | 200 | USB_Request_Echo = TRUE; |
|
- | 201 | break; |
|
- | 202 | ||
179 | case 'e': // request for the text of the error status |
203 | case 'e': // request for the text of the error status |
180 | USB_Request_ErrorMessage = TRUE; |
204 | USB_Request_ErrorMessage = TRUE; |
181 | break; |
205 | break; |
182 | 206 | ||
183 | case 's':// new target position |
207 | case 's':// new target position |
184 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
208 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
185 | BeepTime = 300; |
209 | BeepTime = 300; |
186 | if(pWaypoint->Position.Status == NEWDATA) |
210 | if(pWaypoint->Position.Status == NEWDATA) |
187 | { |
211 | { |
188 | WPList_Clear(); // empty WPList |
212 | WPList_Clear(); // empty WPList |
189 | WPList_Append(pWaypoint); |
213 | WPList_Append(pWaypoint); |
190 | GPS_pWaypoint = WPList_Begin(); |
214 | GPS_pWaypoint = WPList_Begin(); |
191 | } |
215 | } |
192 | break; |
216 | break; |
193 | /* |
- | |
194 | case 'u': // redirect debug uart |
- | |
195 | switch(SerialMsg.pData[0]) |
- | |
196 | { |
217 | |
197 | case UART_FLIGHTCTRL: |
- | |
198 | UART2_Init(); // initialize UART2 to FC pins |
- | |
199 | DebugUART = UART2; |
- | |
200 | break; |
- | |
201 | case UART_MK3MAG: |
- | |
202 | if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running |
- | |
203 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
- | |
204 | GPSData.Status = INVALID; |
- | |
205 | DebugUART = UART0; |
- | |
206 | break; |
- | |
207 | case UART_MKGPS: |
- | |
208 | if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running |
- | |
209 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
- | |
210 | GPSData.Status = INVALID; |
- | |
211 | DebugUART = UART0; |
- | |
212 | break; |
- | |
213 | } |
- | |
214 | break; |
- | |
215 | */ |
- | |
216 | case 'w':// Append Waypoint to List |
218 | case 'w':// Append Waypoint to List |
- | 219 | { |
|
217 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
220 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
- | 221 | ||
218 | if(pWaypoint->Position.Status == INVALID) |
222 | if((pWaypoint->Position.Status == INVALID) && (pWaypoint->Index == 0)) |
219 | { // clear WP List |
223 | { |
220 | WPList_Clear(); |
224 | WPList_Clear(); |
221 | GPS_pWaypoint = WPList_Begin(); |
225 | GPS_pWaypoint = WPList_Begin(); |
222 | //UART1_PutString("\r\nClear WP List\r\n"); |
226 | USB_Request_NewWaypoint = TRUE; // return new WP number |
223 | } |
227 | } |
224 | else if (pWaypoint->Position.Status == NEWDATA) |
228 | else |
225 | { // app current WP to the list |
229 | { // app current WP to the list |
- | 230 | if (pWaypoint->Index == (WPList_GetCount() + 1)) |
|
- | 231 | { |
|
226 | WPList_Append(pWaypoint); |
232 | WPList_Append(pWaypoint); |
227 | BeepTime = 500; |
233 | BeepTime = 500; |
228 | //UART1_PutString("\r\nAdd WP to List\r\n"); |
234 | USB_Request_NewWaypoint = TRUE; // return new WP number |
- | 235 | } |
|
- | 236 | } |
|
229 | } |
237 | } |
230 | USB_Request_NewWaypoint = TRUE; |
- | |
231 | break; |
238 | break; |
232 | 239 | ||
233 | case 'x':// Read Waypoint from List |
240 | case 'x':// Read Waypoint from List |
234 | USB_Request_ReadWaypoint = SerialMsg.pData[0]; |
241 | USB_Request_ReadWaypoint = SerialMsg.pData[0]; |
235 | break; |
242 | break; |
236 | 243 | ||
237 | default: |
244 | default: |
238 | // unsupported command recieved |
245 | // unsupported command recieved |
239 | break; |
246 | break; |
240 | } // case NC_ADDRESS |
247 | } // case NC_ADDRESS |
241 | // "break;" is missing here to fall thru to the common commands |
248 | // "break;" is missing here to fall thru to the common commands |
242 | 249 | ||
243 | default: // and any other Slave Address |
250 | default: // and any other Slave Address |
244 | 251 | ||
245 | switch(SerialMsg.CmdID) // check CmdID |
252 | switch(SerialMsg.CmdID) // check CmdID |
246 | { |
253 | { |
247 | case 'a':// request for the labels of the analog debug outputs |
254 | case 'a':// request for the labels of the analog debug outputs |
248 | USB_Request_DebugLabel = SerialMsg.pData[0]; |
255 | USB_Request_DebugLabel = SerialMsg.pData[0]; |
249 | if(USB_Request_DebugLabel > 31) USB_Request_DebugLabel = 31; |
256 | if(USB_Request_DebugLabel > 31) USB_Request_DebugLabel = 31; |
250 | break; |
257 | break; |
251 | /* |
258 | /* |
252 | case 'b': // submit extern control |
259 | case 'b': // submit extern control |
253 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
260 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
254 | USB_ConfirmFrame = ExternControl.Frame; |
261 | USB_ConfirmFrame = ExternControl.Frame; |
255 | break; |
262 | break; |
256 | */ |
263 | */ |
257 | case 'd': // request for debug data; |
264 | case 'd': // request for debug data; |
258 | USB_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
265 | USB_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
259 | USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
- | |
260 | if(USB_DebugData_Interval > 0) USB_Request_DebugData = TRUE; |
266 | if(USB_DebugData_Interval > 0) USB_Request_DebugData = TRUE; |
- | 267 | USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
|
261 | break; |
268 | break; |
262 | 269 | ||
263 | case 'c': // request for 3D data; |
270 | case 'c': // request for 3D data; |
264 | USB_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
271 | USB_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
265 | USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
- | |
266 | if(USB_Data3D_Interval > 0) USB_Request_Data3D = TRUE; |
272 | if(USB_Data3D_Interval > 0) USB_Request_Data3D = TRUE; |
- | 273 | USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
|
267 | break; |
274 | break; |
268 | /* |
- | |
269 | case 'g':// request for external control data |
- | |
270 | USB_Request_ExternalControl = TRUE; |
- | |
271 | break; |
- | |
272 | */ |
275 | |
273 | case 'h':// reqest for display line |
276 | case 'h':// reqest for display line |
- | 277 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
|
- | 278 | { |
|
- | 279 | USB_DisplayLine = 2; |
|
- | 280 | USB_Display_Interval = 0; |
|
- | 281 | } |
|
- | 282 | else |
|
- | 283 | { |
|
274 | USB_DisplayKeys |= ~SerialMsg.pData[0]; |
284 | USB_DisplayKeys |= ~SerialMsg.pData[0]; |
275 | USB_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
285 | USB_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
- | 286 | USB_DisplayLine = 4; |
|
276 | USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
287 | USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
- | 288 | } |
|
277 | USB_Request_Display = TRUE; |
289 | USB_Request_Display = TRUE; |
278 | break; |
290 | break; |
279 | 291 | ||
280 | case 'l':// reqest for display columns |
292 | case 'l':// reqest for display columns |
281 | MenuItem = SerialMsg.pData[0]; |
293 | MenuItem = SerialMsg.pData[0]; |
282 | USB_Request_Display1 = TRUE; |
294 | USB_Request_Display1 = TRUE; |
283 | break; |
295 | break; |
284 | 296 | ||
285 | case 'o': // request for navigation information |
297 | case 'o': // request for navigation information |
286 | USB_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
298 | USB_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
287 | USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
- | |
288 | if(USB_NaviData_Interval > 0) USB_Request_NaviData = TRUE; |
299 | if(USB_NaviData_Interval > 0) USB_Request_NaviData = TRUE; |
- | 300 | USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
|
289 | break; |
301 | break; |
290 | 302 | ||
291 | case 'v': // request for version info |
303 | case 'v': // request for version info |
292 | USB_Request_VersionInfo = TRUE; |
304 | USB_Request_VersionInfo = TRUE; |
293 | break; |
305 | break; |
294 | default: |
306 | default: |
295 | // unsupported command recieved |
307 | // unsupported command recieved |
296 | break; |
308 | break; |
297 | } |
309 | } |
298 | break; // default: |
310 | break; // default: |
299 | } |
311 | } |
300 | Buffer_Clear(&USB_rx_buffer); |
312 | Buffer_Clear(&USB_rx_buffer); |
301 | } |
313 | } |
302 | 314 | ||
303 | 315 | ||
304 | //----------------------------------------------------------------- |
316 | //----------------------------------------------------------------- |
305 | void USB_CableConfig(FunctionalState NewState) |
317 | void USB_CableConfig(FunctionalState NewState) |
306 | { |
318 | { |
307 | if (NewState == ENABLE) |
319 | if (NewState == ENABLE) |
308 | GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_RESET); |
320 | GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_RESET); |
309 | else |
321 | else |
310 | GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_SET); |
322 | GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_SET); |
311 | } |
323 | } |
- | 324 | //----------------------------------------------------------------- |
|
- | 325 | void USB_EnterLowPowerMode(void) |
|
- | 326 | { |
|
- | 327 | /* Set the device state to suspend */ |
|
- | 328 | bDeviceState = SUSPENDED; |
|
- | 329 | } |
|
- | 330 | //----------------------------------------------------------------- |
|
- | 331 | void USB_LeaveLowPowerMode(void) |
|
- | 332 | { |
|
- | 333 | DEVICE_INFO *pInfo = &Device_Info; |
|
- | 334 | ||
- | 335 | /* Set the device state to the correct state */ |
|
- | 336 | if (pInfo->Current_Configuration != 0) |
|
- | 337 | { |
|
- | 338 | /* Device configured */ |
|
- | 339 | bDeviceState = CONFIGURED; |
|
- | 340 | } |
|
- | 341 | else |
|
- | 342 | { |
|
- | 343 | bDeviceState = ATTACHED; |
|
- | 344 | } |
|
- | 345 | } |
|
- | 346 | ||
312 | 347 | ||
313 | //----------------------------------------------------------------- |
348 | //----------------------------------------------------------------- |
314 | void USB_PutString(u8 *string) |
349 | void USB_PutString(u8 *string) |
315 | { |
350 | { |
316 | u8 i = 0; |
351 | u8 i = 0; |
317 | u16 timeout = 0; |
352 | u16 timeout = 0; |
318 | 353 | ||
319 | while (string[i++] != 0){} // get string len |
354 | while (string[i++] != 0){} // get string len |
320 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
355 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
321 | UserToPMABufferCopy(string, ENDP1_TXADDR, ++i); // copy string to usb buffer |
356 | UserToPMABufferCopy(string, ENDP1_TXADDR, ++i); // copy string to usb buffer |
322 | SetEPTxCount(ENDP1,i); |
357 | SetEPTxCount(ENDP1,i); |
323 | SetEPTxValid(ENDP1); |
358 | SetEPTxValid(ENDP1); |
324 | } |
359 | } |
325 | 360 | ||
326 | //----------------------------------------------------------------- |
361 | //----------------------------------------------------------------- |
327 | void USB_PutChar(u8 c) |
362 | void USB_PutChar(u8 c) |
328 | { |
363 | { |
329 | u16 timeout = 0; |
364 | u16 timeout = 0; |
330 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
365 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
331 | UserToPMABufferCopy(&c, ENDP1_TXADDR, 2); |
366 | UserToPMABufferCopy(&c, ENDP1_TXADDR, 2); |
332 | SetEPTxCount(ENDP1,2); |
367 | SetEPTxCount(ENDP1,2); |
333 | SetEPTxValid(ENDP1); |
368 | SetEPTxValid(ENDP1); |
334 | } |
369 | } |
335 | 370 | ||
336 | //----------------------------------------------------------------- |
371 | //----------------------------------------------------------------- |
337 | void USB_SendData(u8 *pdata, u16 count) |
372 | void USB_SendData(u8 *pdata, u16 count) |
338 | { |
373 | { |
339 | u8 i; |
374 | u8 i; |
340 | count++; |
375 | count++; |
341 | u16 timeout = 0; |
376 | u16 timeout = 0; |
342 | 377 | ||
343 | for (i=0;i< (count/64)+1;i++) |
378 | for (i=0;i< (count/64)+1;i++) |
344 | { |
379 | { |
345 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){if (timeout++ > 60000) return;} |
380 | while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){if (timeout++ > 60000) return;} |
346 | if (i < (count/64)) |
381 | if (i < (count/64)) |
347 | { |
382 | { |
348 | UserToPMABufferCopy(&pdata[i*64], ENDP1_TXADDR, 64); |
383 | UserToPMABufferCopy(&pdata[i*64], ENDP1_TXADDR, 64); |
349 | SetEPTxCount(ENDP1,64); |
384 | SetEPTxCount(ENDP1,64); |
350 | } |
385 | } |
351 | else |
386 | else |
352 | { |
387 | { |
353 | UserToPMABufferCopy(&pdata[i*64], ENDP1_TXADDR, count % 64); |
388 | UserToPMABufferCopy(&pdata[i*64], ENDP1_TXADDR, count % 64); |
354 | SetEPTxCount(ENDP1, count % 64); |
389 | SetEPTxCount(ENDP1, count % 64); |
355 | } |
390 | } |
356 | SetEPTxValid(ENDP1); |
391 | SetEPTxValid(ENDP1); |
357 | } |
392 | } |
358 | } |
393 | } |
359 | 394 | ||
360 | /**************************************************************/ |
395 | /**************************************************************/ |
361 | /* Transmit tx buffer via usb */ |
396 | /* Transmit tx buffer via usb */ |
362 | /**************************************************************/ |
397 | /**************************************************************/ |
363 | void USB_Transmit(void) |
398 | void USB_Transmit(void) |
364 | { // nur blockweises kopieren des sendebuffers, nicht alles mit einem mal |
399 | { // nur blockweises kopieren des sendebuffers, nicht alles mit einem mal |
365 | // if something has to be send and the txd fifo is not full |
400 | // if something has to be send and the txd fifo is not full |
366 | u16 i; |
401 | |
367 | if(USB_tx_buffer.Locked == TRUE) |
402 | if(USB_tx_buffer.Locked == TRUE) |
368 | { |
403 | { |
369 | if(_GetEPTxStatus(ENDP1) == EP_TX_NAK) |
404 | if(_GetEPTxStatus(ENDP1) == EP_TX_NAK) |
370 | //if(_GetEPTxStatus(ENDP1) != EP_TX_VALID) // ready to send |
- | |
371 | { |
405 | { |
- | 406 | u16 i; |
|
372 | if(USB_tx_buffer.Position < USB_tx_buffer.DataBytes) |
407 | if(USB_tx_buffer.Position < USB_tx_buffer.DataBytes) |
373 | { |
408 | { |
374 | i = USB_tx_buffer.DataBytes - USB_tx_buffer.Position; // bytes to send |
409 | i = USB_tx_buffer.DataBytes - USB_tx_buffer.Position; // bytes to send |
375 | if(i > 64) i = 64; // limit packet size to 64 bytes |
410 | if(i > 64) i = 64; // limit packet size to 64 bytes |
376 | UserToPMABufferCopy(&(USB_tx_buffer.pData[USB_tx_buffer.Position]), ENDP1_TXADDR, i); |
411 | UserToPMABufferCopy(&(USB_tx_buffer.pData[USB_tx_buffer.Position]), ENDP1_TXADDR, i); |
377 | SetEPTxCount(ENDP1,i); |
412 | SetEPTxCount(ENDP1,i); |
378 | SetEPTxValid(ENDP1); |
413 | SetEPTxValid(ENDP1); |
379 | USB_tx_buffer.Position += i; |
414 | USB_tx_buffer.Position += i; |
380 | } |
415 | } |
381 | } |
416 | } |
382 | if(USB_tx_buffer.Position >= USB_tx_buffer.DataBytes) // all bytes transfered |
417 | if(USB_tx_buffer.Position >= USB_tx_buffer.DataBytes) // all bytes transfered |
383 | { |
418 | { |
384 | Buffer_Clear(&USB_tx_buffer); // clear buffer |
419 | Buffer_Clear(&USB_tx_buffer); // clear buffer |
385 | } |
420 | } |
386 | } |
421 | } |
387 | } |
422 | } |
388 | 423 | ||
389 | /**************************************************************/ |
424 | /**************************************************************/ |
390 | /* Send the answers to incomming commands at the debug uart */ |
425 | /* Send the answers to incomming commands at the debug uart */ |
391 | /**************************************************************/ |
426 | /**************************************************************/ |
392 | void USB_TransmitTxData(void) |
427 | void USB_TransmitTxData(void) |
393 | { |
428 | { |
394 | USB_Transmit(); // output pending bytes in tx buffer |
429 | USB_Transmit(); // output pending bytes in tx buffer |
395 | if((USB_tx_buffer.Locked == TRUE)) return; |
430 | if((USB_tx_buffer.Locked == TRUE)) return; |
396 | 431 | ||
397 | if(CheckDelay(USB_AboTimeOut)) |
432 | if(CheckDelay(USB_AboTimeOut)) |
398 | { |
433 | { |
399 | USB_DebugData_Interval = 0; |
434 | USB_DebugData_Interval = 0; |
400 | USB_NaviData_Interval = 0; |
435 | USB_NaviData_Interval = 0; |
401 | USB_Data3D_Interval = 0; |
436 | USB_Data3D_Interval = 0; |
402 | USB_Display_Interval = 0; |
437 | USB_Display_Interval = 0; |
403 | } |
438 | } |
404 | 439 | ||
405 | if((USB_Request_DebugLabel != 0xFF) && (USB_tx_buffer.Locked == FALSE)) |
440 | if((USB_Request_DebugLabel != 0xFF) && (USB_tx_buffer.Locked == FALSE)) |
406 | { |
441 | { |
407 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'A', NC_ADDRESS, 2, &USB_Request_DebugLabel, sizeof(USB_Request_DebugLabel), (u8 *) ANALOG_LABEL[USB_Request_DebugLabel], 16); |
442 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'A', NC_ADDRESS, 2, &USB_Request_DebugLabel, sizeof(USB_Request_DebugLabel), (u8 *) ANALOG_LABEL[USB_Request_DebugLabel], 16); |
408 | USB_Request_DebugLabel = 0xFF; |
443 | USB_Request_DebugLabel = 0xFF; |
409 | } |
444 | } |
410 | else if(USB_ConfirmFrame && (USB_tx_buffer.Locked == FALSE)) |
445 | else if(USB_ConfirmFrame && (USB_tx_buffer.Locked == FALSE)) |
411 | { |
446 | { |
412 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'B', NC_ADDRESS, 1, &USB_ConfirmFrame, sizeof(USB_ConfirmFrame)); |
447 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'B', NC_ADDRESS, 1, &USB_ConfirmFrame, sizeof(USB_ConfirmFrame)); |
413 | USB_ConfirmFrame = 0; |
448 | USB_ConfirmFrame = 0; |
414 | } |
449 | } |
415 | else if( (( (USB_DebugData_Interval > 0) && CheckDelay(USB_DebugData_Timer)) || USB_Request_DebugData) && (USB_tx_buffer.Locked == FALSE)) |
450 | else if( (( (USB_DebugData_Interval > 0) && CheckDelay(USB_DebugData_Timer)) || USB_Request_DebugData) && (USB_tx_buffer.Locked == FALSE)) |
416 | { |
451 | { |
417 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
452 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
418 | USB_DebugData_Timer = SetDelay(USB_DebugData_Interval); |
453 | USB_DebugData_Timer = SetDelay(USB_DebugData_Interval); |
419 | USB_Request_DebugData = FALSE; |
454 | USB_Request_DebugData = FALSE; |
420 | } |
455 | } |
421 | else if((( (USB_Data3D_Interval > 0) && CheckDelay(USB_Data3D_Timer) ) || USB_Request_Data3D) && (USB_tx_buffer.Locked == FALSE)) |
456 | else if((( (USB_Data3D_Interval > 0) && CheckDelay(USB_Data3D_Timer) ) || USB_Request_Data3D) && (USB_tx_buffer.Locked == FALSE)) |
422 | { |
457 | { |
423 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
458 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
424 | USB_Data3D_Timer = SetDelay(USB_Data3D_Interval); |
459 | USB_Data3D_Timer = SetDelay(USB_Data3D_Interval); |
425 | USB_Request_Data3D = FALSE; |
460 | USB_Request_Data3D = FALSE; |
426 | } |
461 | } |
427 | else if(USB_Request_ExternalControl && (USB_tx_buffer.Locked == FALSE)) |
462 | else if(USB_Request_ExternalControl && (USB_tx_buffer.Locked == FALSE)) |
428 | { |
463 | { |
429 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
464 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
430 | USB_Request_ExternalControl = FALSE; |
465 | USB_Request_ExternalControl = FALSE; |
431 | } |
466 | } |
432 | else if( (( (USB_Display_Interval > 0) && CheckDelay(USB_Display_Timer)) || USB_Request_Display) && (USB_tx_buffer.Locked == FALSE)) |
467 | else if( (( (USB_Display_Interval > 0) && CheckDelay(USB_Display_Timer)) || USB_Request_Display) && (USB_tx_buffer.Locked == FALSE)) |
433 | { |
468 | { |
434 | Menu_Update(USB_DisplayKeys); |
469 | Menu_Update(USB_DisplayKeys); |
435 | USB_DisplayKeys = 0; |
470 | USB_DisplayKeys = 0; |
436 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
471 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
437 | USB_Request_Display = FALSE; |
472 | USB_Request_Display = FALSE; |
438 | } |
473 | } |
439 | else if(USB_Request_Display1 && (USB_tx_buffer.Locked == FALSE)) |
474 | else if(USB_Request_Display1 && (USB_tx_buffer.Locked == FALSE)) |
440 | { |
475 | { |
441 | Menu_Update(0); |
476 | Menu_Update(0); |
442 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
477 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
443 | USB_Request_Display1 = FALSE; |
478 | USB_Request_Display1 = FALSE; |
444 | } |
479 | } |
445 | else if(USB_Request_VersionInfo && (USB_tx_buffer.Locked == FALSE)) |
480 | else if(USB_Request_VersionInfo && (USB_tx_buffer.Locked == FALSE)) |
446 | { |
481 | { |
447 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
482 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
448 | USB_Request_VersionInfo = FALSE; |
483 | USB_Request_VersionInfo = FALSE; |
449 | } |
484 | } |
450 | else if(( (USB_NaviData_Interval && CheckDelay(USB_NaviData_Timer) ) || USB_Request_NaviData) && (USB_tx_buffer.Locked == FALSE)) |
485 | else if(( (USB_NaviData_Interval && CheckDelay(USB_NaviData_Timer) ) || USB_Request_NaviData) && (USB_tx_buffer.Locked == FALSE)) |
451 | { |
486 | { |
452 | NaviData.Errorcode = ErrorCode; |
487 | NaviData.Errorcode = ErrorCode; |
453 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
488 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
454 | USB_NaviData_Timer = SetDelay(USB_NaviData_Interval); |
489 | USB_NaviData_Timer = SetDelay(USB_NaviData_Interval); |
455 | USB_Request_NaviData = FALSE; |
490 | USB_Request_NaviData = FALSE; |
456 | } |
491 | } |
457 | else if(USB_Request_ErrorMessage && (USB_tx_buffer.Locked == FALSE)) |
492 | else if(USB_Request_ErrorMessage && (USB_tx_buffer.Locked == FALSE)) |
458 | { |
493 | { |
459 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
494 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
460 | USB_Request_ErrorMessage = FALSE; |
495 | USB_Request_ErrorMessage = FALSE; |
461 | } |
496 | } |
462 | else if(USB_Request_NewWaypoint && (USB_tx_buffer.Locked == FALSE)) |
497 | else if(USB_Request_NewWaypoint && (USB_tx_buffer.Locked == FALSE)) |
463 | { |
498 | { |
464 | u8 WPNumber = WPList_GetCount(); |
499 | u8 WPNumber = WPList_GetCount(); |
465 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
500 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
466 | USB_Request_NewWaypoint = FALSE; |
501 | USB_Request_NewWaypoint = FALSE; |
467 | } |
502 | } |
468 | else if((USB_Request_ReadWaypoint != 0xFF) && (USB_tx_buffer.Locked == FALSE)) |
503 | else if((USB_Request_ReadWaypoint != 0xFF) && (USB_tx_buffer.Locked == FALSE)) |
469 | { |
504 | { |
470 | u8 WPNumber = WPList_GetCount(); |
505 | u8 WPNumber = WPList_GetCount(); |
471 | if (USB_Request_ReadWaypoint < WPNumber) |
506 | if (USB_Request_ReadWaypoint < WPNumber) |
472 | { |
507 | { |
473 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &USB_Request_ReadWaypoint, 1, WPList_GetAt(USB_Request_ReadWaypoint), sizeof(Waypoint_t)); |
508 | MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &USB_Request_ReadWaypoint, 1, WPList_GetAt(USB_Request_ReadWaypoint), sizeof(Waypoint_t)); |
474 | } |
509 | } |
475 | else |
510 | else |
476 | { |
511 | { |
477 | MKProtocol_CreateSerialFrame(&USB_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
512 | MKProtocol_CreateSerialFrame(&USB_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
478 | } |
513 | } |
479 | USB_Request_ReadWaypoint = 0xFF; |
514 | USB_Request_ReadWaypoint = 0xFF; |
480 | } |
515 | } |
481 | USB_Transmit(); // output pending bytes in tx buffer |
516 | USB_Transmit(); // output pending bytes in tx buffer |
482 | } |
517 | } |
483 | 518 |