WebSVN - NaviCtrl - Diff - Rev 144 and 148


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch
// + 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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// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
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// +     from this software without specific prior written permission.
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//
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#include <stdio.h>
#include <stdarg.h>
#include <string.h>
 
#include "91x_lib.h"
#include "config.h"
#include "menu.h"
#include "printf_P.h"
#include "GPS.h"
#include "i2c.h"
#include "uart0.h"
#include "uart1.h"
#include "uart2.h"
#include "timer1.h"
#include "timer2.h"
#include "analog.h"
#include "main.h"
#include "waypoints.h"
#include "mkprotocol.h"
 
#define FALSE   0
#define TRUE    1
 
 
u8 UART1_Request_VersionInfo    = FALSE;
u8 UART1_Request_SendFollowMe   = 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   = 255;
u8 UART1_Request_Data3D             = FALSE;
u8 UART1_Request_Echo               = FALSE;
u8 UART1_DisplayLine                    = 0;
u8 UART1_ConfirmFrame                   = 0;
 
UART_TypeDef *DebugUART = UART1;
 
// the tx buffer
#define UART1_TX_BUFFER_LEN  150
u8 UART1_tbuffer[UART1_TX_BUFFER_LEN];
Buffer_t UART1_tx_buffer;
 
// the rx buffer
#define UART1_RX_BUFFER_LEN  150
u8 UART1_rbuffer[UART1_RX_BUFFER_LEN];
Buffer_t UART1_rx_buffer;
 
volatile u8 SerialLinkOkay = 0;
 
u8 text[100];
 
const u8 ANALOG_LABEL[32][16] =
{
   //1234567890123456
        "AngleNick       ", //0
        "AngleRoll       ",
        "AccNick         ",
        "AccRoll         ",
        "                ",
        "MK-Flags        ", //5
        "NC-Flags        ",
        "NickServo       ",
        "RollServo       ",
        "GPS Data        ",
        "CompassHeading  ", //10
        "GyroHeading     ",
        "SPI Error       ",
        "SPI Okay        ",
        "I2C Error       ",
        "I2C Okay        ", //15
        "                ",//    "FC_Kalman_K     ",
        "ACC_Speed_N     ",
        "ACC_Speed_E     ",
        "Speed_z         ",//    "GPS ACC         ",
        "                ",//    "MAXDrift        ", //20
        "N_Speed         ",
        "E_Speed         ",
        "P-Part          ",
        "I-Part          ",
        "D-Part          ",//25
        "PID-Part        ",
        "Distance N      ",
        "Distance E      ",
        "GPS_Nick        ",
        "GPS_Roll        ", //30
        "Used_Sats       "
};
 
DebugOut_t DebugOut;
ExternControl_t ExternControl;
UART_VersionInfo_t UART_VersionInfo;
NaviData_t NaviData;
Waypoint_t FollowMe;
Data3D_t Data3D;
u16 Echo; // 2 bytes recieved will be sent back as echo
 
u32 UART1_DebugData_Timer;
u32 UART1_DebugData_Interval = 5000;    // in ms
u32 UART1_NaviData_Timer;
u32 UART1_NaviData_Interval = 5000;     // in ms
u32 UART1_Data3D_Timer = 0;                     // in ms
u32 UART1_Data3D_Interval = 0;
 
/********************************************************/
/*            Initialization the UART1                  */
/********************************************************/
void UART1_Init (void)
{
        GPIO_InitTypeDef GPIO_InitStructure;
        UART_InitTypeDef UART_InitStructure;
 
        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_IPConnected =   GPIO_IPConnected_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;
       
        // 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);
 
        // 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\nUART1 init...ok");
}
 
 
/****************************************************************/
/*               USART1 receiver ISR                            */
/****************************************************************/
void UART1_IRQHandler(void)
{
        static u8 abortState = 0;
        u8 c;
 
        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
                                                        }
                                                        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 fifo and rxd buffer not locked
                            // get byte from fifo
                        c = UART_ReceiveData(UART1);
                                MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c);
                        } // some byes in the fifo and rxd buffer not locked
                } // eof DebugUart = UART1
        }
}
 
/**************************************************************/
/* Process incomming data from debug uart                     */
/**************************************************************/
void UART1_ProcessRxData(void)
{
        SerialMsg_t SerialMsg;
        // if data in the rxd buffer are not locked immediately return
        if((UART1_rx_buffer.Locked == FALSE) || (DebugUART != UART1) ) return;
        Waypoint_t * pWaypoint = NULL;
 
        MKProtocol_DecodeSerialFrame(&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
                                                //TIMER2_Deinit();                      // stop servo output
                                                DebugUART = UART2;
                                                break;
                                        case UART_MK3MAG:
                                                if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running
                                                UART0_Connect_to_MK3MAG();      // mux UART0 to MK3MAG pins
                                                //TIMER2_Deinit();                      // stop servo output
                                                GPSData.Status = INVALID;
                                                DebugUART = UART0;
                                                break;
                                        case UART_MKGPS:
                                                if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running
                                                TIMER2_Deinit();
                                                UART0_Connect_to_MKGPS();       // connect UART0 to MKGPS pins
                                                GPSData.Status = INVALID;
                                                DebugUART = UART0;
                                                break;
                                }
                                break;
 
                        case 'w'://  Append Waypoint to List
                                pWaypoint = (Waypoint_t*)SerialMsg.pData;
                                if(pWaypoint->Position.Status == INVALID)
                                {  // clear WP List
                                        WPList_Clear();
                                        GPS_pWaypoint = WPList_Begin();
                                        //UART1_PutString("\r\nClear WP List\r\n");
                                }
                                else if (pWaypoint->Position.Status == NEWDATA)
                                {  // app current WP to the list
                                        WPList_Append(pWaypoint);
                                        BeepTime = 500;
                                        //UART1_PutString("\r\nAdd WP to List\r\n");
                                }
                                UART1_Request_NewWaypoint = TRUE;
                                break;
 
                        case 'x'://  Read Waypoint from List
                                UART1_Request_ReadWaypoint = SerialMsg.pData[0];
                                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;
                                break;
 
                        case 'c': // request for 3D data;
                                UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10;
                                if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE;
                                break;
 
                        case 'g':// request for external control data
                                UART1_Request_ExternalControl = TRUE;
                                break;
 
                        case 'h':// reqest for display line
                                RemoteKeys |= SerialMsg.pData[0];
                                if(RemoteKeys != 0) UART1_DisplayLine = 0;
                                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;
                                break;
 
                        case 'v': // request for version info
                                UART1_Request_VersionInfo = TRUE;
                                break;
                        default:
                                // unsupported command recieved
                                break;
                }
                break; // default:
        }
        Buffer_Clear(&UART1_rx_buffer);
}
 
 
/*****************************************************/
/*                   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;
        UART1_Transmit(); // output pending bytes in tx buffer
        if((UART1_tx_buffer.Locked == TRUE)) return;
 
        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;
        }
        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;
        }
        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;
        }
        if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE))
        {
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut));
                UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval);
                UART1_Request_DebugData = FALSE;
        }
 
        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;
        }
 
        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;
        }
        if(UART1_Request_Display && (UART1_tx_buffer.Locked == FALSE))
        {
                LCD_PrintMenu();
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&DisplayBuff[UART1_DisplayLine * 20], 20);
                UART1_DisplayLine++;
                if(UART1_DisplayLine >= 4) UART1_DisplayLine = 0;
                UART1_Request_Display = FALSE;
        }
        if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE))
        {
                LCD_PrintMenu();
                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;
        }
        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;
        }
        if(( (UART1_NaviData_Interval && 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;
        }
        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;
        }
        if(UART1_Request_SendFollowMe && (UART1_tx_buffer.Locked == FALSE) && (GPSData.NumOfSats >= 4))           // sending for "Follow me"
        {
                GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position));
                FollowMe.Position.Status = NEWDATA;
                FollowMe.Heading = -1;
                FollowMe.ToleranceRadius = 1;
                FollowMe.HoldTime = 60;
                FollowMe.Event_Flag = 0;
                FollowMe.reserve[0] = 0;                // reserve
                FollowMe.reserve[1] = 0;                // reserve
                FollowMe.reserve[2] = 0;                // reserve
                FollowMe.reserve[3] = 0;                // reserve
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe));
                UART1_Request_SendFollowMe = FALSE;
        }
        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;
        }
        if((UART1_Request_ReadWaypoint != 0xFF) && (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 = 0xFF;
        }
        UART1_Transmit(); // output pending bytes in tx buffer
}
 
 

Rev 144	Rev 148
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) 2008 Ingo Busker, Holger Buss	5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
6	// + Nur für den privaten Gebrauch	6	// + Nur für den privaten Gebrauch
7	// + FOR NON COMMERCIAL USE ONLY	7	// + FOR NON COMMERCIAL USE ONLY
8	// + www.MikroKopter.com	8	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
15	// + Verkauf von Luftbildaufnahmen, usw.	15	// + Verkauf von Luftbildaufnahmen, usw.
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
22	// + eindeutig als Ursprung verlinkt werden	22	// + eindeutig als Ursprung verlinkt werden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
25	// + Benutzung auf eigene Gefahr	25	// + Benutzung auf eigene Gefahr
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28	// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
29	// + mit unserer Zustimmung zulässig	29	// + mit unserer Zustimmung zulässig
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
34	// + this list of conditions and the following disclaimer.	34	// + this list of conditions and the following disclaimer.
35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
36	// + from this software without specific prior written permission.	36	// + from this software without specific prior written permission.
37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted	37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
38	// + for non-commercial use (directly or indirectly)	38	// + for non-commercial use (directly or indirectly)
39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
40	// + with our written permission	40	// + with our written permission
41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
42	// + clearly linked as origin	42	// + clearly linked as origin
43	// + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed	43	// + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
44	//	44	//
45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
55	// + POSSIBILITY OF SUCH DAMAGE.	55	// + POSSIBILITY OF SUCH DAMAGE.
56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
57	#include <stdio.h>	57	#include <stdio.h>
58	#include <stdarg.h>	58	#include <stdarg.h>
59	#include <string.h>	59	#include <string.h>
60		60
61	#include "91x_lib.h"	61	#include "91x_lib.h"
62	#include "config.h"	62	#include "config.h"
63	#include "menu.h"	63	#include "menu.h"
64	#include "printf_P.h"	64	#include "printf_P.h"
65	#include "GPS.h"	65	#include "GPS.h"
66	#include "i2c.h"	66	#include "i2c.h"
67	#include "uart0.h"	67	#include "uart0.h"
68	#include "uart1.h"	68	#include "uart1.h"
69	#include "uart2.h"	69	#include "uart2.h"
70	#include "timer1.h"	70	#include "timer1.h"
71	#include "timer2.h"	71	#include "timer2.h"
72	#include "analog.h"	72	#include "analog.h"
73	#include "main.h"	73	#include "main.h"
74	#include "waypoints.h"	74	#include "waypoints.h"
75	#include "mkprotocol.h"	75	#include "mkprotocol.h"
76		76
77	#define FALSE 0	77	#define FALSE 0
78	#define TRUE 1	78	#define TRUE 1
79		79
80		80
81	u8 UART1_Request_VersionInfo = FALSE;	81	u8 UART1_Request_VersionInfo = FALSE;
82	u8 UART1_Request_SendFollowMe = FALSE;	82	u8 UART1_Request_SendFollowMe = FALSE;
83	u8 UART1_Request_ExternalControl= FALSE;	83	u8 UART1_Request_ExternalControl= FALSE;
84	u8 UART1_Request_Display = FALSE;	84	u8 UART1_Request_Display = FALSE;
85	u8 UART1_Request_Display1 = FALSE;	85	u8 UART1_Request_Display1 = FALSE;
86	u8 UART1_Request_DebugData = FALSE;	86	u8 UART1_Request_DebugData = FALSE;
87	u8 UART1_Request_DebugLabel = 255;	87	u8 UART1_Request_DebugLabel = 255;
88	u8 UART1_Request_NaviData = FALSE;	88	u8 UART1_Request_NaviData = FALSE;
89	u8 UART1_Request_ErrorMessage = FALSE;	89	u8 UART1_Request_ErrorMessage = FALSE;
90	u8 UART1_Request_NewWaypoint = FALSE;	90	u8 UART1_Request_NewWaypoint = FALSE;
91	u8 UART1_Request_ReadWaypoint = 255;	91	u8 UART1_Request_ReadWaypoint = 255;
92	u8 UART1_Request_Data3D = FALSE;	92	u8 UART1_Request_Data3D = FALSE;
93	u8 UART1_Request_Echo = FALSE;	93	u8 UART1_Request_Echo = FALSE;
94	u8 UART1_DisplayLine = 0;	94	u8 UART1_DisplayLine = 0;
95	u8 UART1_ConfirmFrame = 0;	95	u8 UART1_ConfirmFrame = 0;
96		96
97	UART_TypeDef *DebugUART = UART1;	97	UART_TypeDef *DebugUART = UART1;
98		98
99	// the tx buffer	99	// the tx buffer
100	#define UART1_TX_BUFFER_LEN 150	100	#define UART1_TX_BUFFER_LEN 150
101	u8 UART1_tbuffer[UART1_TX_BUFFER_LEN];	101	u8 UART1_tbuffer[UART1_TX_BUFFER_LEN];
102	Buffer_t UART1_tx_buffer;	102	Buffer_t UART1_tx_buffer;
103		103
104	// the rx buffer	104	// the rx buffer
105	#define UART1_RX_BUFFER_LEN 150	105	#define UART1_RX_BUFFER_LEN 150
106	u8 UART1_rbuffer[UART1_RX_BUFFER_LEN];	106	u8 UART1_rbuffer[UART1_RX_BUFFER_LEN];
107	Buffer_t UART1_rx_buffer;	107	Buffer_t UART1_rx_buffer;
108		108
109	volatile u8 SerialLinkOkay = 0;	109	volatile u8 SerialLinkOkay = 0;
110		110
111	u8 text[100];	111	u8 text[100];
112		112
113	const u8 ANALOG_LABEL[32][16] =	113	const u8 ANALOG_LABEL[32][16] =
114	{	114	{
115	//1234567890123456	115	//1234567890123456
116	"AngleNick ", //0	116	"AngleNick ", //0
117	"AngleRoll ",	117	"AngleRoll ",
118	"AccNick ",	118	"AccNick ",
119	"AccRoll ",	119	"AccRoll ",
120	" ",	120	" ",
121	"MK-Flags ", //5	121	"MK-Flags ", //5
122	"NC-Flags ",	122	"NC-Flags ",
123	"NickServo ",	123	"NickServo ",
124	"RollServo ",	124	"RollServo ",
125	"GPS Data ",	125	"GPS Data ",
126	"CompassHeading ", //10	126	"CompassHeading ", //10
127	"GyroHeading ",	127	"GyroHeading ",
128	"SPI Error ",	128	"SPI Error ",
129	"SPI Okay ",	129	"SPI Okay ",
130	"I2C Error ",	130	"I2C Error ",
131	"I2C Okay ", //15	131	"I2C Okay ", //15
132	" ",// "FC_Kalman_K ",	132	" ",// "FC_Kalman_K ",
133	"ACC_Speed_N ",	133	"ACC_Speed_N ",
134	"ACC_Speed_E ",	134	"ACC_Speed_E ",
135	" ",// "GPS ACC ",	135	"Speed_z ",// "GPS ACC ",
136	" ",// "MAXDrift ", //20	136	" ",// "MAXDrift ", //20
137	"N_Speed ",	137	"N_Speed ",
138	"E_Speed ",	138	"E_Speed ",
139	"P-Part ",	139	"P-Part ",
140	"I-Part ",	140	"I-Part ",
141	"D-Part ",//25	141	"D-Part ",//25
142	"PID-Part ",	142	"PID-Part ",
143	"Distance N ",	143	"Distance N ",
144	"Distance E ",	144	"Distance E ",
145	"GPS_Nick ",	145	"GPS_Nick ",
146	"GPS_Roll ", //30	146	"GPS_Roll ", //30
147	"Used_Sats "	147	"Used_Sats "
148	};	148	};
149		149
150	DebugOut_t DebugOut;	150	DebugOut_t DebugOut;
151	ExternControl_t ExternControl;	151	ExternControl_t ExternControl;
152	UART_VersionInfo_t UART_VersionInfo;	152	UART_VersionInfo_t UART_VersionInfo;
153	NaviData_t NaviData;	153	NaviData_t NaviData;
154	Waypoint_t FollowMe;	154	Waypoint_t FollowMe;
155	Data3D_t Data3D;	155	Data3D_t Data3D;
156	u16 Echo; // 2 bytes recieved will be sent back as echo	156	u16 Echo; // 2 bytes recieved will be sent back as echo
157		157
158	u32 UART1_DebugData_Timer;	158	u32 UART1_DebugData_Timer;
159	u32 UART1_DebugData_Interval = 5000; // in ms	159	u32 UART1_DebugData_Interval = 5000; // in ms
160	u32 UART1_NaviData_Timer;	160	u32 UART1_NaviData_Timer;
161	u32 UART1_NaviData_Interval = 5000; // in ms	161	u32 UART1_NaviData_Interval = 5000; // in ms
162	u32 UART1_Data3D_Timer = 0; // in ms	162	u32 UART1_Data3D_Timer = 0; // in ms
163	u32 UART1_Data3D_Interval = 0;	163	u32 UART1_Data3D_Interval = 0;
164		164
165	/********************************************************/	165	/********************************************************/
166	/* Initialization the UART1 */	166	/* Initialization the UART1 */
167	/********************************************************/	167	/********************************************************/
168	void UART1_Init (void)	168	void UART1_Init (void)
169	{	169	{
170	GPIO_InitTypeDef GPIO_InitStructure;	170	GPIO_InitTypeDef GPIO_InitStructure;
171	UART_InitTypeDef UART_InitStructure;	171	UART_InitTypeDef UART_InitStructure;
172		172
173	SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock	173	SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock
174	SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock	174	SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock
175		175
176	/Configure UART1_Rx pin GPIO3.2/	176	/Configure UART1_Rx pin GPIO3.2/
177	GPIO_StructInit(&GPIO_InitStructure);	177	GPIO_StructInit(&GPIO_InitStructure);
178	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;	178	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
179	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;	179	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
180	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;	180	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
181	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;	181	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;
182	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD	182	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD
183	GPIO_Init(GPIO3, &GPIO_InitStructure);	183	GPIO_Init(GPIO3, &GPIO_InitStructure);
184		184
185	/Configure UART1_Tx pin GPIO3.3/	185	/Configure UART1_Tx pin GPIO3.3/
186	GPIO_StructInit(&GPIO_InitStructure);	186	GPIO_StructInit(&GPIO_InitStructure);
187	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;	187	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
188	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;	188	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
189	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;	189	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
190	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX	190	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX
191	GPIO_Init(GPIO3, &GPIO_InitStructure);	191	GPIO_Init(GPIO3, &GPIO_InitStructure);
192		192
193	/* UART1 configured as follow:	193	/* UART1 configured as follow:
194	- Word Length = 8 Bits	194	- Word Length = 8 Bits
195	- One Stop Bit	195	- One Stop Bit
196	- No parity	196	- No parity
197	- BaudRate = 57600 baud	197	- BaudRate = 57600 baud
198	- Hardware flow control Disabled	198	- Hardware flow control Disabled
199	- Receive and transmit enabled	199	- Receive and transmit enabled
200	- Receive and transmit FIFOs are Disabled	200	- Receive and transmit FIFOs are Disabled
201	*/	201	*/
202	UART_StructInit(&UART_InitStructure);	202	UART_StructInit(&UART_InitStructure);
203	UART_InitStructure.UART_WordLength = UART_WordLength_8D;	203	UART_InitStructure.UART_WordLength = UART_WordLength_8D;
204	UART_InitStructure.UART_StopBits = UART_StopBits_1;	204	UART_InitStructure.UART_StopBits = UART_StopBits_1;
205	UART_InitStructure.UART_Parity = UART_Parity_No ;	205	UART_InitStructure.UART_Parity = UART_Parity_No ;
206	UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE;	206	UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE;
207	UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None;	207	UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None;
208	UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx;	208	UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx;
209	UART_InitStructure.UART_FIFO = UART_FIFO_Enable;	209	UART_InitStructure.UART_FIFO = UART_FIFO_Enable;
210	UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2;	210	UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2;
211	UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2;	211	UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2;
212		212
213	UART_DeInit(UART1); // reset uart 1 to default	213	UART_DeInit(UART1); // reset uart 1 to default
214	UART_Init(UART1, &UART_InitStructure); // initialize uart 1	214	UART_Init(UART1, &UART_InitStructure); // initialize uart 1
215	// enable uart 1 interrupts selective	215	// enable uart 1 interrupts selective
216	UART_ITConfig(UART1, UART_IT_Receive \| UART_IT_ReceiveTimeOut, ENABLE);	216	UART_ITConfig(UART1, UART_IT_Receive \| UART_IT_ReceiveTimeOut, ENABLE);
217	UART_Cmd(UART1, ENABLE); // enable uart 1	217	UART_Cmd(UART1, ENABLE); // enable uart 1
218	// configure the uart 1 interupt line	218	// configure the uart 1 interupt line
219	VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1);	219	VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1);
220	// enable the uart 1 IRQ	220	// enable the uart 1 IRQ
221	VIC_ITCmd(UART1_ITLine, ENABLE);	221	VIC_ITCmd(UART1_ITLine, ENABLE);
222	// initialize the debug timer	222	// initialize the debug timer
223	UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval);	223	UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval);
224	UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500;	224	UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500;
225		225
226	// initialize txd buffer	226	// initialize txd buffer
227	Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN);	227	Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN);
228		228
229	// initialize rxd buffer	229	// initialize rxd buffer
230	Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN);	230	Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN);
231		231
232	// Fill Version Info Structure	232	// Fill Version Info Structure
233	UART_VersionInfo.SWMajor = VERSION_MAJOR;	233	UART_VersionInfo.SWMajor = VERSION_MAJOR;
234	UART_VersionInfo.SWMinor = VERSION_MINOR;	234	UART_VersionInfo.SWMinor = VERSION_MINOR;
235	UART_VersionInfo.SWPatch = VERSION_PATCH;	235	UART_VersionInfo.SWPatch = VERSION_PATCH;
236	UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;	236	UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;
237	UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;	237	UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;
238		238
239	NaviData.Version = NAVIDATA_VERSION;	239	NaviData.Version = NAVIDATA_VERSION;
240		240
241	UART1_PutString("\r\nUART1 init...ok");	241	UART1_PutString("\r\nUART1 init...ok");
242	}	242	}
243		243
244		244
245	/****************************************************************/	245	/****************************************************************/
246	/* USART1 receiver ISR */	246	/* USART1 receiver ISR */
247	/****************************************************************/	247	/****************************************************************/
248	void UART1_IRQHandler(void)	248	void UART1_IRQHandler(void)
249	{	249	{
250	static u8 abortState = 0;	250	static u8 abortState = 0;
251	u8 c;	251	u8 c;
252		252
253	if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) \|\| (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) )	253	if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) \|\| (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) )
254	{	254	{
255	// clear the pending bits	255	// clear the pending bits
256	UART_ClearITPendingBit(UART1, UART_IT_Receive);	256	UART_ClearITPendingBit(UART1, UART_IT_Receive);
257	UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut);	257	UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut);
258	// if debug UART is not UART1	258	// if debug UART is not UART1
259	if (DebugUART != UART1)	259	if (DebugUART != UART1)
260	{ // forward received data to the debug UART tx buffer	260	{ // forward received data to the debug UART tx buffer
261	while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)	261	while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)
262	{	262	{
263	// move the byte from the rx buffer of UART1 to the tx buffer of DebugUART	263	// move the byte from the rx buffer of UART1 to the tx buffer of DebugUART
264	c = UART_ReceiveData(UART1);	264	c = UART_ReceiveData(UART1);
265		265
266	// check for abort condition (ESC ESC 0x55 0xAA 0x00)	266	// check for abort condition (ESC ESC 0x55 0xAA 0x00)
267	switch (abortState)	267	switch (abortState)
268	{	268	{
269	case 0:	269	case 0:
270	if (c == 27) abortState++;	270	if (c == 27) abortState++;
271	break;	271	break;
272	case 1:	272	case 1:
273	if (c == 27) abortState++;	273	if (c == 27) abortState++;
274	else abortState = 0;	274	else abortState = 0;
275	break;	275	break;
276	case 2:	276	case 2:
277	if (c == 0x55) abortState++;	277	if (c == 0x55) abortState++;
278	else abortState = 0;	278	else abortState = 0;
279	break;	279	break;
280	case 3:	280	case 3:
281	if (c == 0xAA) abortState++;	281	if (c == 0xAA) abortState++;
282	else abortState = 0;	282	else abortState = 0;
283	break;	283	break;
284	case 4:	284	case 4:
285	if (c == 0x00)	285	if (c == 0x00)
286	{	286	{
287	if(DebugUART == UART0)	287	if(DebugUART == UART0)
288	{	288	{
289	UART0_Connect_to_MKGPS();	289	UART0_Connect_to_MKGPS();
290	TIMER2_Init(); // enbable servo outputs	290	TIMER2_Init(); // enbable servo outputs
291	}	291	}
292	DebugUART = UART1;	292	DebugUART = UART1;
293	}	293	}
294	abortState = 0;	294	abortState = 0;
295	break;	295	break;
296	} // end switch abort state	296	} // end switch abort state
297	// if the Debug uart is not UART1, redirect input to the Debug UART	297	// if the Debug uart is not UART1, redirect input to the Debug UART
298	if (DebugUART != UART1)	298	if (DebugUART != UART1)
299	{	299	{
300	// wait for space in the tx buffer of the DebugUART	300	// wait for space in the tx buffer of the DebugUART
301	while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {};	301	while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {};
302	// move byte to the tx fifo of the debug uart	302	// move byte to the tx fifo of the debug uart
303	UART_SendData(DebugUART, c);	303	UART_SendData(DebugUART, c);
304	}	304	}
305	}	305	}
306	}	306	}
307	else // DebugUART == UART1 (normal operation)	307	else // DebugUART == UART1 (normal operation)
308	{	308	{
309	while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)	309	while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)
310	{ // some byes in the fifo and rxd buffer not locked	310	{ // some byes in the fifo and rxd buffer not locked
311	// get byte from fifo	311	// get byte from fifo
312	c = UART_ReceiveData(UART1);	312	c = UART_ReceiveData(UART1);
313	MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c);	313	MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c);
314	} // some byes in the fifo and rxd buffer not locked	314	} // some byes in the fifo and rxd buffer not locked
315	} // eof DebugUart = UART1	315	} // eof DebugUart = UART1
316	}	316	}
317	}	317	}
318		318
319	/**************************************************************/	319	/**************************************************************/
320	/* Process incomming data from debug uart */	320	/* Process incomming data from debug uart */
321	/**************************************************************/	321	/**************************************************************/
322	void UART1_ProcessRxData(void)	322	void UART1_ProcessRxData(void)
323	{	323	{
324	SerialMsg_t SerialMsg;	324	SerialMsg_t SerialMsg;
325	// if data in the rxd buffer are not locked immediately return	325	// if data in the rxd buffer are not locked immediately return
326	if((UART1_rx_buffer.Locked == FALSE) \|\| (DebugUART != UART1) ) return;	326	if((UART1_rx_buffer.Locked == FALSE) \|\| (DebugUART != UART1) ) return;
327	Waypoint_t * pWaypoint = NULL;	327	Waypoint_t * pWaypoint = NULL;
328		328
329	MKProtocol_DecodeSerialFrame(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer	329	MKProtocol_DecodeSerialFrame(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer
330	if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping"	330	if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping"
331	switch(SerialMsg.Address) // check for Slave Address	331	switch(SerialMsg.Address) // check for Slave Address
332	{	332	{
333	case NC_ADDRESS: // own Slave Address	333	case NC_ADDRESS: // own Slave Address
334	switch(SerialMsg.CmdID)	334	switch(SerialMsg.CmdID)
335	{	335	{
336	case 'z': // connection checker	336	case 'z': // connection checker
337	memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern	337	memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern
338	UART1_Request_Echo = TRUE;	338	UART1_Request_Echo = TRUE;
339	break;	339	break;
340		340
341	case 'e': // request for the text of the error status	341	case 'e': // request for the text of the error status
342	UART1_Request_ErrorMessage = TRUE;	342	UART1_Request_ErrorMessage = TRUE;
343	break;	343	break;
344		344
345	case 's':// new target position	345	case 's':// new target position
346	pWaypoint = (Waypoint_t*)SerialMsg.pData;	346	pWaypoint = (Waypoint_t*)SerialMsg.pData;
347	BeepTime = 300;	347	BeepTime = 300;
348	if(pWaypoint->Position.Status == NEWDATA)	348	if(pWaypoint->Position.Status == NEWDATA)
349	{	349	{
350	WPList_Clear(); // empty WPList	350	WPList_Clear(); // empty WPList
351	WPList_Append(pWaypoint);	351	WPList_Append(pWaypoint);
352	GPS_pWaypoint = WPList_Begin();	352	GPS_pWaypoint = WPList_Begin();
353	}	353	}
354	break;	354	break;
355		355
356	case 'u': // redirect debug uart	356	case 'u': // redirect debug uart
357	switch(SerialMsg.pData[0])	357	switch(SerialMsg.pData[0])
358	{	358	{
359	case UART_FLIGHTCTRL:	359	case UART_FLIGHTCTRL:
360	UART2_Init(); // initialize UART2 to FC pins	360	UART2_Init(); // initialize UART2 to FC pins
361	//TIMER2_Deinit(); // stop servo output	361	//TIMER2_Deinit(); // stop servo output
362	DebugUART = UART2;	362	DebugUART = UART2;
363	break;	363	break;
364	case UART_MK3MAG:	364	case UART_MK3MAG:
365	if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running	365	if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running
366	UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins	366	UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins
367	//TIMER2_Deinit(); // stop servo output	367	//TIMER2_Deinit(); // stop servo output
368	GPSData.Status = INVALID;	368	GPSData.Status = INVALID;
369	DebugUART = UART0;	369	DebugUART = UART0;
370	break;	370	break;
371	case UART_MKGPS:	371	case UART_MKGPS:
372	if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running	372	if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running
373	TIMER2_Deinit();	373	TIMER2_Deinit();
374	UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins	374	UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins
375	GPSData.Status = INVALID;	375	GPSData.Status = INVALID;
376	DebugUART = UART0;	376	DebugUART = UART0;
377	break;	377	break;
378	}	378	}
379	break;	379	break;
380		380
381	case 'w':// Append Waypoint to List	381	case 'w':// Append Waypoint to List
382	pWaypoint = (Waypoint_t*)SerialMsg.pData;	382	pWaypoint = (Waypoint_t*)SerialMsg.pData;
383	if(pWaypoint->Position.Status == INVALID)	383	if(pWaypoint->Position.Status == INVALID)
384	{ // clear WP List	384	{ // clear WP List
385	WPList_Clear();	385	WPList_Clear();
386	GPS_pWaypoint = WPList_Begin();	386	GPS_pWaypoint = WPList_Begin();
387	//UART1_PutString("\r\nClear WP List\r\n");	387	//UART1_PutString("\r\nClear WP List\r\n");
388	}	388	}
389	else if (pWaypoint->Position.Status == NEWDATA)	389	else if (pWaypoint->Position.Status == NEWDATA)
390	{ // app current WP to the list	390	{ // app current WP to the list
391	WPList_Append(pWaypoint);	391	WPList_Append(pWaypoint);
392	BeepTime = 500;	392	BeepTime = 500;
393	//UART1_PutString("\r\nAdd WP to List\r\n");	393	//UART1_PutString("\r\nAdd WP to List\r\n");
394	}	394	}
395	UART1_Request_NewWaypoint = TRUE;	395	UART1_Request_NewWaypoint = TRUE;
396	break;	396	break;
397		397
398	case 'x':// Read Waypoint from List	398	case 'x':// Read Waypoint from List
399	UART1_Request_ReadWaypoint = SerialMsg.pData[0];	399	UART1_Request_ReadWaypoint = SerialMsg.pData[0];
400	break;	400	break;
401		401
402	default:	402	default:
403	// unsupported command recieved	403	// unsupported command recieved
404	break;	404	break;
405	} // case NC_ADDRESS	405	} // case NC_ADDRESS
406	// "break;" is missing here to fall thru to the common commands	406	// "break;" is missing here to fall thru to the common commands
407		407
408	default: // and any other Slave Address	408	default: // and any other Slave Address
409		409
410	switch(SerialMsg.CmdID) // check CmdID	410	switch(SerialMsg.CmdID) // check CmdID
411	{	411	{
412	case 'a':// request for the labels of the analog debug outputs	412	case 'a':// request for the labels of the analog debug outputs
413	UART1_Request_DebugLabel = SerialMsg.pData[0];	413	UART1_Request_DebugLabel = SerialMsg.pData[0];
414	if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31;	414	if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31;
415	break;	415	break;
416		416
417	case 'b': // submit extern control	417	case 'b': // submit extern control
418	memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl));	418	memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl));
419	UART1_ConfirmFrame = ExternControl.Frame;	419	UART1_ConfirmFrame = ExternControl.Frame;
420	break;	420	break;
421		421
422	case 'd': // request for debug data;	422	case 'd': // request for debug data;
423	UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10;	423	UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10;
424	if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE;	424	if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE;
425	break;	425	break;
426		426
427	case 'c': // request for 3D data;	427	case 'c': // request for 3D data;
428	UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10;	428	UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10;
429	if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE;	429	if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE;
430	break;	430	break;
431		431
432	case 'g':// request for external control data	432	case 'g':// request for external control data
433	UART1_Request_ExternalControl = TRUE;	433	UART1_Request_ExternalControl = TRUE;
434	break;	434	break;
435		435
436	case 'h':// reqest for display line	436	case 'h':// reqest for display line
437	RemoteKeys \|= SerialMsg.pData[0];	437	RemoteKeys \|= SerialMsg.pData[0];
438	if(RemoteKeys != 0) UART1_DisplayLine = 0;	438	if(RemoteKeys != 0) UART1_DisplayLine = 0;
439	UART1_Request_Display = TRUE;	439	UART1_Request_Display = TRUE;
440	break;	440	break;
441		441
442	case 'l':// reqest for display columns	442	case 'l':// reqest for display columns
443	MenuItem = SerialMsg.pData[0];	443	MenuItem = SerialMsg.pData[0];
444	UART1_Request_Display1 = TRUE;	444	UART1_Request_Display1 = TRUE;
445	break;	445	break;
446		446
447	case 'o': // request for navigation information	447	case 'o': // request for navigation information
448	UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10;	448	UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10;
449	if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE;	449	if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE;
450	break;	450	break;
451		451
452	case 'v': // request for version info	452	case 'v': // request for version info
453	UART1_Request_VersionInfo = TRUE;	453	UART1_Request_VersionInfo = TRUE;
454	break;	454	break;
455	default:	455	default:
456	// unsupported command recieved	456	// unsupported command recieved
457	break;	457	break;
458	}	458	}
459	break; // default:	459	break; // default:
460	}	460	}
461	Buffer_Clear(&UART1_rx_buffer);	461	Buffer_Clear(&UART1_rx_buffer);
462	}	462	}
463		463
464		464
465	/*****************************************************/	465	/*****************************************************/
466	/* Send a character */	466	/* Send a character */
467	/*****************************************************/	467	/*****************************************************/
468	s16 UART1_Putchar(char c)	468	s16 UART1_Putchar(char c)
469	{	469	{
470	if (c == '\n') UART1_Putchar('\r');	470	if (c == '\n') UART1_Putchar('\r');
471	// wait until txd fifo is not full	471	// wait until txd fifo is not full
472	while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET);	472	while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET);
473	// transmit byte	473	// transmit byte
474	UART_SendData(UART1, c);	474	UART_SendData(UART1, c);
475	return (0);	475	return (0);
476	}	476	}
477		477
478	/*****************************************************/	478	/*****************************************************/
479	/* Send a string to the debug uart */	479	/* Send a string to the debug uart */
480	/*****************************************************/	480	/*****************************************************/
481	void UART1_PutString(u8 *s)	481	void UART1_PutString(u8 *s)
482	{	482	{
483	if(s == NULL) return;	483	if(s == NULL) return;
484	while (*s != '\0' && DebugUART == UART1)	484	while (*s != '\0' && DebugUART == UART1)
485	{	485	{
486	UART1_Putchar(*s);	486	UART1_Putchar(*s);
487	s ++;	487	s ++;
488	}	488	}
489	}	489	}
490		490
491		491
492	/**************************************************************/	492	/**************************************************************/
493	/* Transmit tx buffer via debug uart */	493	/* Transmit tx buffer via debug uart */
494	/**************************************************************/	494	/**************************************************************/
495	void UART1_Transmit(void)	495	void UART1_Transmit(void)
496	{	496	{
497	u8 tmp_tx;	497	u8 tmp_tx;
498	if(DebugUART != UART1) return;	498	if(DebugUART != UART1) return;
499	// if something has to be send and the txd fifo is not full	499	// if something has to be send and the txd fifo is not full
500	if(UART1_tx_buffer.Locked == TRUE)	500	if(UART1_tx_buffer.Locked == TRUE)

Subversion Repositories NaviCtrl

(root)/tags/V0.28o/uart1.c @ 890 - Rev 144 → 148