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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 <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 "main.h" |
62 | #include "main.h" |
| 63 | #include "config.h" |
63 | #include "config.h" |
| 64 | #include "menu.h" |
64 | #include "menu.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 "compass.h" |
73 | #include "compass.h" |
| 74 | #include "waypoints.h" |
74 | #include "waypoints.h" |
| 75 | #include "mkprotocol.h" |
75 | #include "mkprotocol.h" |
| 76 | #include "params.h" |
76 | #include "params.h" |
| 77 | #include "fifo.h" |
77 | #include "fifo.h" |
| 78 | #include "debug.h" |
78 | #include "debug.h" |
| 79 | 79 | ||
| 80 | #define FALSE 0 |
80 | #define FALSE 0 |
| 81 | #define TRUE 1 |
81 | #define TRUE 1 |
| 82 | 82 | ||
| 83 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
83 | #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
| 84 | u32 UART1_AboTimeOut = 0; |
84 | u32 UART1_AboTimeOut = 0; |
| 85 | 85 | ||
| 86 | u8 UART1_Request_VersionInfo = FALSE; |
86 | u8 UART1_Request_VersionInfo = FALSE; |
| 87 | u8 UART1_Request_ExternalControl= FALSE; |
87 | u8 UART1_Request_ExternalControl= FALSE; |
| 88 | u8 UART1_Request_Display = FALSE; |
88 | u8 UART1_Request_Display = FALSE; |
| 89 | u8 UART1_Request_Display1 = FALSE; |
89 | u8 UART1_Request_Display1 = FALSE; |
| 90 | u8 UART1_Request_DebugData = FALSE; |
90 | u8 UART1_Request_DebugData = FALSE; |
| 91 | u8 UART1_Request_DebugLabel = 255; |
91 | u8 UART1_Request_DebugLabel = 255; |
| 92 | u8 UART1_Request_NaviData = FALSE; |
92 | u8 UART1_Request_NaviData = FALSE; |
| 93 | u8 UART1_Request_ErrorMessage = FALSE; |
93 | u8 UART1_Request_ErrorMessage = FALSE; |
| 94 | u8 UART1_Request_WritePoint = 0xFF; |
94 | u8 UART1_Request_WritePoint = 0xFF; |
| 95 | u8 UART1_Request_ReadPoint = 0; |
95 | u8 UART1_Request_ReadPoint = 0; |
| 96 | u8 UART1_Request_Data3D = FALSE; |
96 | u8 UART1_Request_Data3D = FALSE; |
| 97 | u8 UART1_Request_Echo = FALSE; |
97 | u8 UART1_Request_Echo = FALSE; |
| 98 | u8 UART1_Request_ParameterId = 0; |
98 | u8 UART1_Request_ParameterId = 0; |
| 99 | u8 UART1_Request_Parameter = FALSE; |
99 | u8 UART1_Request_Parameter = FALSE; |
| 100 | u8 UART1_DisplayKeys = 0; |
100 | u8 UART1_DisplayKeys = 0; |
| 101 | u8 UART1_DisplayLine = 0; |
101 | u8 UART1_DisplayLine = 0; |
| 102 | u8 UART1_ConfirmFrame = 0; |
102 | u8 UART1_ConfirmFrame = 0; |
| 103 | 103 | ||
| 104 | UART_TypeDef *DebugUART = UART1; |
104 | UART_TypeDef *DebugUART = UART1; |
| - | 105 | ||
| - | 106 | #ifdef FOLLOW_ME |
|
| - | 107 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
|
| - | 108 | u8 UART1_FollowMe_Timer = 0; |
|
| - | 109 | Point_t FollowMe; |
|
| - | 110 | #endif |
|
| 105 | 111 | ||
| 106 | // the primary rx fifo |
112 | // the primary rx fifo |
| 107 | #define UART1_RX_FIFO_LEN 512 |
113 | #define UART1_RX_FIFO_LEN 512 |
| 108 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
114 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
| 109 | fifo_t UART1_rx_fifo; |
115 | fifo_t UART1_rx_fifo; |
| 110 | 116 | ||
| 111 | // the rx buffer |
117 | // the rx buffer |
| 112 | #define UART1_RX_BUFFER_LEN 150 |
118 | #define UART1_RX_BUFFER_LEN 150 |
| 113 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
119 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
| 114 | Buffer_t UART1_rx_buffer; |
120 | Buffer_t UART1_rx_buffer; |
| 115 | 121 | ||
| 116 | // the tx buffer |
122 | // the tx buffer |
| 117 | #define UART1_TX_BUFFER_LEN 150 |
123 | #define UART1_TX_BUFFER_LEN 150 |
| 118 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
124 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
| 119 | Buffer_t UART1_tx_buffer; |
125 | Buffer_t UART1_tx_buffer; |
| 120 | 126 | ||
| 121 | 127 | ||
| 122 | 128 | ||
| 123 | volatile u8 SerialLinkOkay = 0; |
129 | volatile u8 SerialLinkOkay = 0; |
| 124 | 130 | ||
| 125 | u8 text[200]; |
131 | u8 text[200]; |
| 126 | 132 | ||
| 127 | const u8 ANALOG_LABEL[32][16] = |
133 | const u8 ANALOG_LABEL[32][16] = |
| 128 | { |
134 | { |
| 129 | //1234567890123456 |
135 | //1234567890123456 |
| 130 | "AngleNick ", //0 |
136 | "AngleNick ", //0 |
| 131 | "AngleRoll ", |
137 | "AngleRoll ", |
| 132 | "AccNick ", |
138 | "AccNick ", |
| 133 | "AccRoll ", |
139 | "AccRoll ", |
| 134 | "OperatingRadius ", |
140 | "OperatingRadius ", |
| 135 | "FC-Flags ", //5 |
141 | "FC-Flags ", //5 |
| 136 | "NC-Flags ", |
142 | "NC-Flags ", |
| 137 | "NickServo ", |
143 | "NickServo ", |
| 138 | "RollServo ", |
144 | "RollServo ", |
| 139 | "GPS Data ", |
145 | "GPS Data ", |
| 140 | "CompassHeading ", //10 |
146 | "CompassHeading ", //10 |
| 141 | "GyroHeading ", |
147 | "GyroHeading ", |
| 142 | "SPI Error ", |
148 | "SPI Error ", |
| 143 | "SPI Okay ", |
149 | "SPI Okay ", |
| 144 | "I2C Error ", |
150 | "I2C Error ", |
| 145 | "I2C Okay ", //15 |
151 | "I2C Okay ", //15 |
| 146 | "*POI_INDEX ",// "Kalman_K ", |
152 | "*POI_INDEX ",// "Kalman_K ", |
| 147 | "ACC_Speed_N ", |
153 | "ACC_Speed_N ", |
| 148 | "ACC_Speed_E ", |
154 | "ACC_Speed_E ", |
| 149 | "Speed_z ",// "GPS ACC ", |
155 | "Speed_z ",// "GPS ACC ", |
| 150 | "20 ",//20 |
156 | "20 ",//20 |
| 151 | "N_Speed ", |
157 | "N_Speed ", |
| 152 | "E_Speed ", |
158 | "E_Speed ", |
| 153 | "23 ", |
159 | "23 ", |
| 154 | "Magnet X ", |
160 | "Magnet X ", |
| 155 | "Magnet Y ",//25 |
161 | "Magnet Y ",//25 |
| 156 | "Magnet Z ", |
162 | "Magnet Z ", |
| 157 | "Distance N ", |
163 | "Distance N ", |
| 158 | "Distance E ", |
164 | "Distance E ", |
| 159 | "GPS_Nick ", |
165 | "GPS_Nick ", |
| 160 | "GPS_Roll ", //30 |
166 | "GPS_Roll ", //30 |
| 161 | "Used_Sats " |
167 | "Used_Sats " |
| 162 | }; |
168 | }; |
| 163 | 169 | ||
| 164 | DebugOut_t DebugOut; |
170 | DebugOut_t DebugOut; |
| 165 | ExternControl_t ExternControl; |
171 | ExternControl_t ExternControl; |
| 166 | UART_VersionInfo_t UART_VersionInfo; |
172 | UART_VersionInfo_t UART_VersionInfo; |
| 167 | NaviData_t NaviData; |
173 | NaviData_t NaviData; |
| 168 | Data3D_t Data3D; |
174 | Data3D_t Data3D; |
| 169 | u16 Echo; // 2 bytes recieved will be sent back as echo |
175 | u16 Echo; // 2 bytes recieved will be sent back as echo |
| 170 | 176 | ||
| 171 | u32 UART1_DebugData_Timer = 0; |
177 | u32 UART1_DebugData_Timer = 0; |
| 172 | u32 UART1_DebugData_Interval = 0; // in ms |
178 | u32 UART1_DebugData_Interval = 0; // in ms |
| 173 | u32 UART1_NaviData_Timer = 0; |
179 | u32 UART1_NaviData_Timer = 0; |
| 174 | u32 UART1_NaviData_Interval = 0; // in ms |
180 | u32 UART1_NaviData_Interval = 0; // in ms |
| 175 | u32 UART1_Data3D_Timer = 0; |
181 | u32 UART1_Data3D_Timer = 0; |
| 176 | u32 UART1_Data3D_Interval = 0; // in ms |
182 | u32 UART1_Data3D_Interval = 0; // in ms |
| 177 | u32 UART1_Display_Timer = 0; |
183 | u32 UART1_Display_Timer = 0; |
| 178 | u32 UART1_Display_Interval = 0; // in ms |
184 | u32 UART1_Display_Interval = 0; // in ms |
| 179 | 185 | ||
| 180 | /********************************************************/ |
186 | /********************************************************/ |
| 181 | /* Initialization the UART1 */ |
187 | /* Initialization the UART1 */ |
| 182 | /********************************************************/ |
188 | /********************************************************/ |
| 183 | void UART1_Init (void) |
189 | void UART1_Init (void) |
| 184 | { |
190 | { |
| 185 | GPIO_InitTypeDef GPIO_InitStructure; |
191 | GPIO_InitTypeDef GPIO_InitStructure; |
| 186 | UART_InitTypeDef UART_InitStructure; |
192 | UART_InitTypeDef UART_InitStructure; |
| 187 | 193 | ||
| 188 | // initialize txd buffer |
194 | // initialize txd buffer |
| 189 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
195 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
| 190 | 196 | ||
| 191 | // initialize rxd buffer |
197 | // initialize rxd buffer |
| 192 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
198 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
| 193 | 199 | ||
| 194 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
200 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
| 195 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
201 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
| 196 | 202 | ||
| 197 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
203 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
| 198 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
204 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
| 199 | 205 | ||
| 200 | /*Configure UART1_Rx pin GPIO3.2*/ |
206 | /*Configure UART1_Rx pin GPIO3.2*/ |
| 201 | GPIO_StructInit(&GPIO_InitStructure); |
207 | GPIO_StructInit(&GPIO_InitStructure); |
| 202 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
208 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| 203 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
209 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
| 204 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
210 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| 205 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
211 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 206 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
212 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
| 207 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
213 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
| 208 | 214 | ||
| 209 | /*Configure UART1_Tx pin GPIO3.3*/ |
215 | /*Configure UART1_Tx pin GPIO3.3*/ |
| 210 | GPIO_StructInit(&GPIO_InitStructure); |
216 | GPIO_StructInit(&GPIO_InitStructure); |
| 211 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
217 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| 212 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
218 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
| 213 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
219 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| 214 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
220 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
| 215 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
221 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
| 216 | 222 | ||
| 217 | /* UART1 configured as follow: |
223 | /* UART1 configured as follow: |
| 218 | - Word Length = 8 Bits |
224 | - Word Length = 8 Bits |
| 219 | - One Stop Bit |
225 | - One Stop Bit |
| 220 | - No parity |
226 | - No parity |
| 221 | - BaudRate = 57600 baud |
227 | - BaudRate = 57600 baud |
| 222 | - Hardware flow control Disabled |
228 | - Hardware flow control Disabled |
| 223 | - Receive and transmit enabled |
229 | - Receive and transmit enabled |
| 224 | - Receive and transmit FIFOs are Disabled |
230 | - Receive and transmit FIFOs are Disabled |
| 225 | */ |
231 | */ |
| 226 | UART_StructInit(&UART_InitStructure); |
232 | UART_StructInit(&UART_InitStructure); |
| 227 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
233 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
| 228 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
234 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
| 229 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
235 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
| 230 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
236 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
| 231 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
237 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
| 232 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
238 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
| 233 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
239 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
| 234 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
240 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
| 235 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
241 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
| 236 | 242 | ||
| 237 | UART_DeInit(UART1); // reset uart 1 to default |
243 | UART_DeInit(UART1); // reset uart 1 to default |
| 238 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
244 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
| 239 | // enable uart 1 interrupts selective |
245 | // enable uart 1 interrupts selective |
| 240 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
246 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
| 241 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
247 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
| 242 | // configure the uart 1 interupt line |
248 | // configure the uart 1 interupt line |
| 243 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
249 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
| 244 | // enable the uart 1 IRQ |
250 | // enable the uart 1 IRQ |
| 245 | VIC_ITCmd(UART1_ITLine, ENABLE); |
251 | VIC_ITCmd(UART1_ITLine, ENABLE); |
| 246 | 252 | ||
| 247 | // initialize the debug timer |
253 | // initialize the debug timer |
| 248 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
254 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
| 249 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
255 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
| 250 | 256 | ||
| 251 | // Fill Version Info Structure |
257 | // Fill Version Info Structure |
| 252 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
258 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
| 253 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
259 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
| 254 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
260 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
| 255 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
261 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| 256 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
262 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| 257 | 263 | ||
| 258 | NaviData.Version = NAVIDATA_VERSION; |
264 | NaviData.Version = NAVIDATA_VERSION; |
| 259 | 265 | ||
| 260 | UART1_PutString("\r\n UART1 init...ok"); |
266 | UART1_PutString("\r\n UART1 init...ok"); |
| 261 | } |
267 | } |
| 262 | 268 | ||
| 263 | 269 | ||
| 264 | /****************************************************************/ |
270 | /****************************************************************/ |
| 265 | /* USART1 receiver ISR */ |
271 | /* USART1 receiver ISR */ |
| 266 | /****************************************************************/ |
272 | /****************************************************************/ |
| 267 | void UART1_IRQHandler(void) |
273 | void UART1_IRQHandler(void) |
| 268 | { |
274 | { |
| 269 | static u8 abortState = 0; |
275 | static u8 abortState = 0; |
| 270 | u8 c; |
276 | u8 c; |
| 271 | 277 | ||
| 272 | IENABLE; |
278 | IENABLE; |
| 273 | 279 | ||
| 274 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
280 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
| 275 | { |
281 | { |
| 276 | // clear the pending bits! |
282 | // clear the pending bits! |
| 277 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
283 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
| 278 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
284 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
| 279 | // if debug UART is not UART1 |
285 | // if debug UART is not UART1 |
| 280 | if (DebugUART != UART1) |
286 | if (DebugUART != UART1) |
| 281 | { // forward received data to the debug UART tx buffer |
287 | { // forward received data to the debug UART tx buffer |
| 282 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
288 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
| 283 | { |
289 | { |
| 284 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
290 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
| 285 | c = UART_ReceiveData(UART1); |
291 | c = UART_ReceiveData(UART1); |
| 286 | 292 | ||
| 287 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
293 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
| 288 | switch (abortState) |
294 | switch (abortState) |
| 289 | { |
295 | { |
| 290 | case 0: |
296 | case 0: |
| 291 | if (c == 27) abortState++; |
297 | if (c == 27) abortState++; |
| 292 | break; |
298 | break; |
| 293 | case 1: |
299 | case 1: |
| 294 | if (c == 27) abortState++; |
300 | if (c == 27) abortState++; |
| 295 | else abortState = 0; |
301 | else abortState = 0; |
| 296 | break; |
302 | break; |
| 297 | case 2: |
303 | case 2: |
| 298 | if (c == 0x55) abortState++; |
304 | if (c == 0x55) abortState++; |
| 299 | else abortState = 0; |
305 | else abortState = 0; |
| 300 | break; |
306 | break; |
| 301 | case 3: |
307 | case 3: |
| 302 | if (c == 0xAA) abortState++; |
308 | if (c == 0xAA) abortState++; |
| 303 | else abortState = 0; |
309 | else abortState = 0; |
| 304 | break; |
310 | break; |
| 305 | case 4: |
311 | case 4: |
| 306 | if (c == 0x00) |
312 | if (c == 0x00) |
| 307 | { |
313 | { |
| 308 | if(DebugUART == UART0) |
314 | if(DebugUART == UART0) |
| 309 | { |
315 | { |
| 310 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
316 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
| 311 | TIMER2_Init(); // enbable servo outputs |
317 | TIMER2_Init(); // enbable servo outputs |
| 312 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
318 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
| 313 | } |
319 | } |
| 314 | DebugUART = UART1; |
320 | DebugUART = UART1; |
| 315 | } |
321 | } |
| 316 | abortState = 0; |
322 | abortState = 0; |
| 317 | break; |
323 | break; |
| 318 | } // end switch abort state |
324 | } // end switch abort state |
| 319 | // if the Debug uart is not UART1, redirect input to the Debug UART |
325 | // if the Debug uart is not UART1, redirect input to the Debug UART |
| 320 | if (DebugUART != UART1) |
326 | if (DebugUART != UART1) |
| 321 | { |
327 | { |
| 322 | // wait for space in the tx buffer of the DebugUART |
328 | // wait for space in the tx buffer of the DebugUART |
| 323 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
329 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
| 324 | // move byte to the tx fifo of the debug uart |
330 | // move byte to the tx fifo of the debug uart |
| 325 | UART_SendData(DebugUART, c); |
331 | UART_SendData(DebugUART, c); |
| 326 | } |
332 | } |
| 327 | } |
333 | } |
| 328 | } |
334 | } |
| 329 | else // DebugUART == UART1 (normal operation) |
335 | else // DebugUART == UART1 (normal operation) |
| 330 | { |
336 | { |
| 331 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
337 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
| 332 | { // some byes in the hardware fifo |
338 | { // some byes in the hardware fifo |
| 333 | // get byte from hardware fifo |
339 | // get byte from hardware fifo |
| 334 | c = UART_ReceiveData(UART1); |
340 | c = UART_ReceiveData(UART1); |
| 335 | // put into the software fifo |
341 | // put into the software fifo |
| 336 | if(!fifo_put(&UART1_rx_fifo, c)) |
342 | if(!fifo_put(&UART1_rx_fifo, c)) |
| 337 | { // fifo overflow |
343 | { // fifo overflow |
| 338 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
344 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
| 339 | } |
345 | } |
| 340 | } // EOF while some byes in the hardware fifo |
346 | } // EOF while some byes in the hardware fifo |
| 341 | } // eof DebugUart = UART1 |
347 | } // eof DebugUart = UART1 |
| 342 | } |
348 | } |
| 343 | 349 | ||
| 344 | IDISABLE; |
350 | IDISABLE; |
| 345 | } |
351 | } |
| 346 | 352 | ||
| 347 | /**************************************************************/ |
353 | /**************************************************************/ |
| 348 | /* Process incomming data from debug uart */ |
354 | /* Process incomming data from debug uart */ |
| 349 | /**************************************************************/ |
355 | /**************************************************************/ |
| 350 | void UART1_ProcessRxData(void) |
356 | void UART1_ProcessRxData(void) |
| 351 | { |
357 | { |
| 352 | // return on forwarding uart or unlocked rx buffer |
358 | // return on forwarding uart or unlocked rx buffer |
| 353 | if(DebugUART != UART1) return; |
359 | if(DebugUART != UART1) return; |
| 354 | 360 | ||
| 355 | u8 c; |
361 | u8 c; |
| 356 | // if rx buffer is not locked |
362 | // if rx buffer is not locked |
| 357 | if(UART1_rx_buffer.Locked == FALSE) |
363 | if(UART1_rx_buffer.Locked == FALSE) |
| 358 | { |
364 | { |
| 359 | //collect data from primary rx fifo |
365 | //collect data from primary rx fifo |
| 360 | while(fifo_get(&UART1_rx_fifo, &c)) |
366 | while(fifo_get(&UART1_rx_fifo, &c)) |
| 361 | { |
367 | { |
| 362 | // break if complete frame is collected |
368 | // break if complete frame is collected |
| 363 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
369 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
| 364 | } |
370 | } |
| 365 | } |
371 | } |
| 366 | if(UART1_rx_buffer.Locked == FALSE) return; |
372 | if(UART1_rx_buffer.Locked == FALSE) return; |
| 367 | 373 | ||
| 368 | Point_t * pPoint = NULL; |
374 | Point_t * pPoint = NULL; |
| 369 | SerialMsg_t SerialMsg; |
375 | SerialMsg_t SerialMsg; |
| 370 | 376 | ||
| 371 | // analyze header first |
377 | // analyze header first |
| 372 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
378 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
| 373 | if( SerialMsg.Address == FC_ADDRESS ) |
379 | if( SerialMsg.Address == FC_ADDRESS ) |
| 374 | { |
380 | { |
| 375 | switch(SerialMsg.CmdID) |
381 | switch(SerialMsg.CmdID) |
| 376 | { |
382 | { |
| 377 | // case 'v': // version |
383 | // case 'v': // version |
| 378 | case 'y': // serial poti values |
384 | case 'y': // serial poti values |
| 379 | case 'b': // extern control |
385 | case 'b': // extern control |
| 380 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
386 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
| 381 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
387 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
| 382 | return; //end process rx data |
388 | return; //end process rx data |
| 383 | break; |
389 | break; |
| 384 | } |
390 | } |
| 385 | } |
391 | } |
| 386 | 392 | ||
| 387 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
393 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
| 388 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
394 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
| 389 | switch(SerialMsg.Address) // check for Slave Address |
395 | switch(SerialMsg.Address) // check for Slave Address |
| 390 | { |
396 | { |
| 391 | case NC_ADDRESS: // own Slave Address |
397 | case NC_ADDRESS: // own Slave Address |
| 392 | switch(SerialMsg.CmdID) |
398 | switch(SerialMsg.CmdID) |
| 393 | { |
399 | { |
| 394 | case 'z': // connection checker |
400 | case 'z': // connection checker |
| 395 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
401 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
| 396 | UART1_Request_Echo = TRUE; |
402 | UART1_Request_Echo = TRUE; |
| 397 | break; |
403 | break; |
| 398 | 404 | ||
| 399 | case 'e': // request for the text of the error status |
405 | case 'e': // request for the text of the error status |
| 400 | UART1_Request_ErrorMessage = TRUE; |
406 | UART1_Request_ErrorMessage = TRUE; |
| 401 | break; |
407 | break; |
| 402 | 408 | ||
| 403 | case 's':// new target position |
409 | case 's':// new target position |
| 404 | pPoint = (Point_t*)SerialMsg.pData; |
410 | pPoint = (Point_t*)SerialMsg.pData; |
| 405 | if(pPoint->Position.Status == NEWDATA) |
411 | if(pPoint->Position.Status == NEWDATA) |
| 406 | { |
412 | { |
| 407 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
413 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
| 408 | //pPoint->Index = 1; // must be one after empty list |
414 | //pPoint->Index = 1; // must be one after empty list |
| 409 | PointList_SetAt(pPoint); |
415 | PointList_SetAt(pPoint); |
| 410 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
416 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
| 411 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
417 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
| 412 | if(GPS_pWaypoint != NULL) // if new WP exist |
418 | if(GPS_pWaypoint != NULL) // if new WP exist |
| 413 | { // update WP hold time stamp immediately! |
419 | { // update WP hold time stamp immediately! |
| 414 | /* if(GPS_pWaypoint->Heading > 0 && GPS_pWaypoint->Heading <= 360) |
420 | /* if(GPS_pWaypoint->Heading > 0 && GPS_pWaypoint->Heading <= 360) |
| 415 | { |
421 | { |
| 416 | CAM_Orientation.Azimuth = GPS_pWaypoint->Heading; |
422 | CAM_Orientation.Azimuth = GPS_pWaypoint->Heading; |
| 417 | CAM_Orientation.UpdateMask |= CAM_UPDATE_AZIMUTH; |
423 | CAM_Orientation.UpdateMask |= CAM_UPDATE_AZIMUTH; |
| 418 | } |
424 | } |
| 419 | */ |
425 | */ |
| 420 | } |
426 | } |
| 421 | BeepTime = 50; |
427 | BeepTime = 50; |
| 422 | } |
428 | } |
| 423 | break; |
429 | break; |
| 424 | 430 | ||
| 425 | case 'u': // redirect debug uart |
431 | case 'u': // redirect debug uart |
| 426 | switch(SerialMsg.pData[0]) |
432 | switch(SerialMsg.pData[0]) |
| 427 | { |
433 | { |
| 428 | case UART_FLIGHTCTRL: |
434 | case UART_FLIGHTCTRL: |
| 429 | UART2_Init(); // initialize UART2 to FC pins |
435 | UART2_Init(); // initialize UART2 to FC pins |
| 430 | fifo_purge(&UART1_rx_fifo); |
436 | fifo_purge(&UART1_rx_fifo); |
| 431 | TIMER2_Deinit(); // reduce irq load |
437 | TIMER2_Deinit(); // reduce irq load |
| 432 | DebugUART = UART2; |
438 | DebugUART = UART2; |
| 433 | break; |
439 | break; |
| 434 | case UART_MK3MAG: |
440 | case UART_MK3MAG: |
| 435 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
441 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
| 436 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
442 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
| 437 | GPSData.Status = INVALID; |
443 | GPSData.Status = INVALID; |
| 438 | fifo_purge(&UART1_rx_fifo); |
444 | fifo_purge(&UART1_rx_fifo); |
| 439 | DebugUART = UART0; |
445 | DebugUART = UART0; |
| 440 | break; |
446 | break; |
| 441 | case UART_MKGPS: |
447 | case UART_MKGPS: |
| 442 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
448 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
| 443 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
449 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
| 444 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
450 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
| 445 | GPSData.Status = INVALID; |
451 | GPSData.Status = INVALID; |
| 446 | fifo_purge(&UART1_rx_fifo); |
452 | fifo_purge(&UART1_rx_fifo); |
| 447 | DebugUART = UART0; |
453 | DebugUART = UART0; |
| 448 | break; |
454 | break; |
| 449 | default: |
455 | default: |
| 450 | break; |
456 | break; |
| 451 | } |
457 | } |
| 452 | break; |
458 | break; |
| 453 | 459 | ||
| 454 | case 'w':// Set point in list at index |
460 | case 'w':// Set point in list at index |
| 455 | { |
461 | { |
| 456 | pPoint = (Point_t*)SerialMsg.pData; |
462 | pPoint = (Point_t*)SerialMsg.pData; |
| 457 | 463 | ||
| 458 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
464 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
| 459 | { |
465 | { |
| 460 | PointList_Clear(); |
466 | PointList_Clear(); |
| 461 | GPS_pWaypoint = PointList_WPBegin(); |
467 | GPS_pWaypoint = PointList_WPBegin(); |
| 462 | UART1_Request_WritePoint = 0; // return new point count |
468 | UART1_Request_WritePoint = 0; // return new point count |
| 463 | } |
469 | } |
| 464 | else |
470 | else |
| 465 | { // update WP in list at index |
471 | { // update WP in list at index |
| 466 | UART1_Request_WritePoint = PointList_SetAt(pPoint); |
472 | UART1_Request_WritePoint = PointList_SetAt(pPoint); |
| 467 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
473 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
| 468 | if(UART1_Request_WritePoint == pPoint->Index) |
474 | if(UART1_Request_WritePoint == pPoint->Index) |
| 469 | { |
475 | { |
| 470 | BeepTime = 500; |
476 | BeepTime = 500; |
| 471 | } |
477 | } |
| 472 | } |
478 | } |
| 473 | } |
479 | } |
| 474 | break; |
480 | break; |
| 475 | 481 | ||
| 476 | case 'x':// Read Waypoint from List |
482 | case 'x':// Read Waypoint from List |
| 477 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
483 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
| 478 | break; |
484 | break; |
| 479 | 485 | ||
| 480 | case 'j':// Set/Get NC-Parameter |
486 | case 'j':// Set/Get NC-Parameter |
| 481 | switch(SerialMsg.pData[0]) |
487 | switch(SerialMsg.pData[0]) |
| 482 | { |
488 | { |
| 483 | case 0: // get |
489 | case 0: // get |
| 484 | break; |
490 | break; |
| 485 | 491 | ||
| 486 | case 1: // set |
492 | case 1: // set |
| 487 | { |
493 | { |
| 488 | s16 value; |
494 | s16 value; |
| 489 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
495 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
| 490 | NCParams_SetValue(SerialMsg.pData[1], &value); |
496 | NCParams_SetValue(SerialMsg.pData[1], &value); |
| 491 | } |
497 | } |
| 492 | break; |
498 | break; |
| 493 | 499 | ||
| 494 | default: |
500 | default: |
| 495 | break; |
501 | break; |
| 496 | } |
502 | } |
| 497 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
503 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
| 498 | UART1_Request_Parameter = TRUE; |
504 | UART1_Request_Parameter = TRUE; |
| 499 | break; |
505 | break; |
| 500 | default: |
506 | default: |
| 501 | // unsupported command recieved |
507 | // unsupported command recieved |
| 502 | break; |
508 | break; |
| 503 | } // case NC_ADDRESS |
509 | } // case NC_ADDRESS |
| 504 | // "break;" is missing here to fall thru to the common commands |
510 | // "break;" is missing here to fall thru to the common commands |
| 505 | 511 | ||
| 506 | default: // and any other Slave Address |
512 | default: // and any other Slave Address |
| 507 | 513 | ||
| 508 | switch(SerialMsg.CmdID) // check CmdID |
514 | switch(SerialMsg.CmdID) // check CmdID |
| 509 | { |
515 | { |
| 510 | case 'a':// request for the labels of the analog debug outputs |
516 | case 'a':// request for the labels of the analog debug outputs |
| 511 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
517 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
| 512 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
518 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
| 513 | break; |
519 | break; |
| 514 | /* |
520 | /* |
| 515 | case 'b': // submit extern control |
521 | case 'b': // submit extern control |
| 516 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
522 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
| 517 | UART1_ConfirmFrame = ExternControl.Frame; |
523 | UART1_ConfirmFrame = ExternControl.Frame; |
| 518 | break; |
524 | break; |
| 519 | */ |
525 | */ |
| 520 | case 'd': // request for debug data; |
526 | case 'd': // request for debug data; |
| 521 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
527 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
| 522 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
528 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
| 523 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
529 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 524 | break; |
530 | break; |
| 525 | 531 | ||
| 526 | case 'c': // request for 3D data; |
532 | case 'c': // request for 3D data; |
| 527 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
533 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
| 528 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
534 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
| 529 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
535 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 530 | break; |
536 | break; |
| 531 | 537 | ||
| 532 | case 'h':// reqest for display line |
538 | case 'h':// reqest for display line |
| 533 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
539 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
| 534 | { |
540 | { |
| 535 | UART1_DisplayLine = 2; |
541 | UART1_DisplayLine = 2; |
| 536 | UART1_Display_Interval = 0; |
542 | UART1_Display_Interval = 0; |
| 537 | } |
543 | } |
| 538 | else |
544 | else |
| 539 | { |
545 | { |
| 540 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
546 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
| 541 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
547 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
| 542 | UART1_DisplayLine = 4; |
548 | UART1_DisplayLine = 4; |
| 543 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
549 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 544 | } |
550 | } |
| 545 | UART1_Request_Display = TRUE; |
551 | UART1_Request_Display = TRUE; |
| 546 | break; |
552 | break; |
| 547 | 553 | ||
| 548 | case 'l':// reqest for display columns |
554 | case 'l':// reqest for display columns |
| 549 | MenuItem = SerialMsg.pData[0]; |
555 | MenuItem = SerialMsg.pData[0]; |
| 550 | UART1_Request_Display1 = TRUE; |
556 | UART1_Request_Display1 = TRUE; |
| 551 | break; |
557 | break; |
| 552 | 558 | ||
| 553 | case 'o': // request for navigation information |
559 | case 'o': // request for navigation information |
| 554 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
560 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
| 555 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
561 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
| 556 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
562 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
| 557 | break; |
563 | break; |
| 558 | 564 | ||
| 559 | case 'v': // request for version info |
565 | case 'v': // request for version info |
| 560 | UART1_Request_VersionInfo = TRUE; |
566 | UART1_Request_VersionInfo = TRUE; |
| 561 | break; |
567 | break; |
| 562 | default: |
568 | default: |
| 563 | // unsupported command recieved |
569 | // unsupported command recieved |
| 564 | break; |
570 | break; |
| 565 | } |
571 | } |
| 566 | break; // default: |
572 | break; // default: |
| 567 | } |
573 | } |
| 568 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
574 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
| 569 | } |
575 | } |
| 570 | 576 | ||
| 571 | 577 | ||
| 572 | /*****************************************************/ |
578 | /*****************************************************/ |
| 573 | /* Send a character */ |
579 | /* Send a character */ |
| 574 | /*****************************************************/ |
580 | /*****************************************************/ |
| 575 | s16 UART1_Putchar(char c) |
581 | s16 UART1_Putchar(char c) |
| 576 | { |
582 | { |
| 577 | if (c == '\n') UART1_Putchar('\r'); |
583 | if (c == '\n') UART1_Putchar('\r'); |
| 578 | // wait until txd fifo is not full |
584 | // wait until txd fifo is not full |
| 579 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
585 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
| 580 | // transmit byte |
586 | // transmit byte |
| 581 | UART_SendData(UART1, c); |
587 | UART_SendData(UART1, c); |
| - | 588 | #ifdef FOLLOW_ME |
|
| - | 589 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
|
| - | 590 | #endif |
|
| 582 | return (0); |
591 | return (0); |
| 583 | } |
592 | } |
| 584 | 593 | ||
| 585 | /*****************************************************/ |
594 | /*****************************************************/ |
| 586 | /* Send a string to the debug uart */ |
595 | /* Send a string to the debug uart */ |
| 587 | /*****************************************************/ |
596 | /*****************************************************/ |
| 588 | void UART1_PutString(u8 *s) |
597 | void UART1_PutString(u8 *s) |
| 589 | { |
598 | { |
| 590 | if(s == NULL) return; |
599 | if(s == NULL) return; |
| 591 | while (*s != '\0' && DebugUART == UART1) |
600 | while (*s != '\0' && DebugUART == UART1) |
| 592 | { |
601 | { |
| 593 | UART1_Putchar(*s); |
602 | UART1_Putchar(*s); |
| 594 | s ++; |
603 | s ++; |
| 595 | } |
604 | } |
| 596 | } |
605 | } |
| 597 | 606 | ||
| 598 | 607 | ||
| 599 | /**************************************************************/ |
608 | /**************************************************************/ |
| 600 | /* Transmit tx buffer via debug uart */ |
609 | /* Transmit tx buffer via debug uart */ |
| 601 | /**************************************************************/ |
610 | /**************************************************************/ |
| 602 | void UART1_Transmit(void) |
611 | void UART1_Transmit(void) |
| 603 | { |
612 | { |
| 604 | u8 tmp_tx; |
613 | u8 tmp_tx; |
| 605 | if(DebugUART != UART1) return; |
614 | if(DebugUART != UART1) return; |
| 606 | // if something has to be send and the txd fifo is not full |
615 | // if something has to be send and the txd fifo is not full |
| 607 | if(UART1_tx_buffer.Locked == TRUE) |
616 | if(UART1_tx_buffer.Locked == TRUE) |
| 608 | { |
617 | { |
| 609 | // while there is some space in the tx fifo |
618 | // while there is some space in the tx fifo |
| 610 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
619 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
| 611 | { |
620 | { |
| 612 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
621 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
| 613 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
622 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
| - | 623 | #ifdef FOLLOW_ME |
|
| - | 624 | if(TransmitAlsoToFC) |
|
| - | 625 | { |
|
| - | 626 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
|
| - | 627 | } |
|
| - | 628 | #endif |
|
| 614 | // if terminating character or end of txd buffer reached |
629 | // if terminating character or end of txd buffer reached |
| 615 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
630 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
| 616 | { |
631 | { |
| 617 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
632 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
| - | 633 | #ifdef FOLLOW_ME |
|
| - | 634 | TransmitAlsoToFC = 0; |
|
| - | 635 | #endif |
|
| 618 | break; // end while loop |
636 | break; // end while loop |
| 619 | } |
637 | } |
| 620 | } |
638 | } |
| 621 | } |
639 | } |
| 622 | } |
640 | } |
| 623 | 641 | ||
| 624 | /**************************************************************/ |
642 | /**************************************************************/ |
| 625 | /* Send the answers to incomming commands at the debug uart */ |
643 | /* Send the answers to incomming commands at the debug uart */ |
| 626 | /**************************************************************/ |
644 | /**************************************************************/ |
| 627 | void UART1_TransmitTxData(void) |
645 | void UART1_TransmitTxData(void) |
| 628 | { |
646 | { |
| 629 | if(DebugUART != UART1) return; |
647 | if(DebugUART != UART1) return; |
| 630 | 648 | ||
| 631 | if(CheckDelay(UART1_AboTimeOut)) |
649 | if(CheckDelay(UART1_AboTimeOut)) |
| 632 | { |
650 | { |
| 633 | UART1_DebugData_Interval = 0; |
651 | UART1_DebugData_Interval = 0; |
| 634 | UART1_NaviData_Interval = 0; |
652 | UART1_NaviData_Interval = 0; |
| 635 | UART1_Data3D_Interval = 0; |
653 | UART1_Data3D_Interval = 0; |
| 636 | UART1_Display_Interval = 0; |
654 | UART1_Display_Interval = 0; |
| 637 | } |
655 | } |
| 638 | 656 | ||
| 639 | UART1_Transmit(); // output pending bytes in tx buffer |
657 | UART1_Transmit(); // output pending bytes in tx buffer |
| 640 | if((UART1_tx_buffer.Locked == TRUE)) return; |
658 | if((UART1_tx_buffer.Locked == TRUE)) return; |
| 641 | 659 | ||
| 642 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
660 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
| 643 | { |
661 | { |
| 644 | s16 ParamValue; |
662 | s16 ParamValue; |
| 645 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
663 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
| 646 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
664 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
| 647 | UART1_Request_Parameter = FALSE; |
665 | UART1_Request_Parameter = FALSE; |
| 648 | } |
666 | } |
| 649 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
667 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
| 650 | { |
668 | { |
| 651 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
669 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
| 652 | Echo = 0; // reset echo value |
670 | Echo = 0; // reset echo value |
| 653 | UART1_Request_Echo = FALSE; |
671 | UART1_Request_Echo = FALSE; |
| 654 | } |
672 | } |
| 655 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
673 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
| 656 | { |
674 | { |
| 657 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
675 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
| 658 | UART1_Request_WritePoint = 0xFF; |
676 | UART1_Request_WritePoint = 0xFF; |
| 659 | } |
677 | } |
| 660 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
678 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
| 661 | { |
679 | { |
| 662 | u8 PointCount = PointList_GetCount(); |
680 | u8 PointCount = PointList_GetCount(); |
| 663 | if (UART1_Request_ReadPoint <= PointCount) |
681 | if (UART1_Request_ReadPoint <= PointCount) |
| 664 | { |
682 | { |
| 665 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
683 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
| 666 | } |
684 | } |
| 667 | else |
685 | else |
| 668 | { |
686 | { |
| 669 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
687 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
| 670 | } |
688 | } |
| 671 | UART1_Request_ReadPoint = 0; |
689 | UART1_Request_ReadPoint = 0; |
| 672 | } |
690 | } |
| 673 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
691 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
| 674 | { |
692 | { |
| 675 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
693 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
| 676 | UART1_Request_DebugLabel = 0xFF; |
694 | UART1_Request_DebugLabel = 0xFF; |
| 677 | } |
695 | } |
| 678 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
696 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
| 679 | { |
697 | { |
| 680 | NaviData.Errorcode = ErrorCode; |
698 | NaviData.Errorcode = ErrorCode; |
| 681 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
699 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
| 682 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
700 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
| 683 | UART1_Request_NaviData = FALSE; |
701 | UART1_Request_NaviData = FALSE; |
| 684 | } |
702 | } |
| 685 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
703 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
| 686 | { |
704 | { |
| 687 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
705 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
| 688 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
706 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
| 689 | UART1_Request_DebugData = FALSE; |
707 | UART1_Request_DebugData = FALSE; |
| 690 | } |
708 | } |
| 691 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
709 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
| 692 | { |
710 | { |
| 693 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
711 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
| 694 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
712 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
| 695 | UART1_Request_Data3D = FALSE; |
713 | UART1_Request_Data3D = FALSE; |
| 696 | } |
714 | } |
| 697 | /* |
715 | /* |
| 698 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
716 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
| 699 | { |
717 | { |
| 700 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
718 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
| 701 | UART1_ConfirmFrame = 0; |
719 | UART1_ConfirmFrame = 0; |
| 702 | } |
720 | } |
| 703 | */ |
721 | */ |
| 704 | /* |
722 | /* |
| 705 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
723 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
| 706 | { |
724 | { |
| 707 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
725 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
| 708 | UART1_Request_ExternalControl = FALSE; |
726 | UART1_Request_ExternalControl = FALSE; |
| 709 | } |
727 | } |
| 710 | */ |
728 | */ |
| 711 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
729 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
| 712 | { |
730 | { |
| 713 | if(UART1_DisplayLine > 3) |
731 | if(UART1_DisplayLine > 3) |
| 714 | { |
732 | { |
| 715 | Menu_Update(UART1_DisplayKeys); |
733 | Menu_Update(UART1_DisplayKeys); |
| 716 | UART1_DisplayKeys = 0; |
734 | UART1_DisplayKeys = 0; |
| 717 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
735 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
| 718 | } |
736 | } |
| 719 | else |
737 | else |
| 720 | { |
738 | { |
| 721 | UART1_DisplayLine = 2; |
739 | UART1_DisplayLine = 2; |
| 722 | sprintf(text,"!!! incompatible !!!"); |
740 | sprintf(text,"!!! incompatible !!!"); |
| 723 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
741 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
| 724 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
742 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
| 725 | } |
743 | } |
| 726 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
744 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
| 727 | UART1_Request_Display = FALSE; |
745 | UART1_Request_Display = FALSE; |
| 728 | } |
746 | } |
| 729 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
747 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
| 730 | { |
748 | { |
| 731 | Menu_Update(0); |
749 | Menu_Update(0); |
| 732 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
750 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
| 733 | UART1_Request_Display1 = FALSE; |
751 | UART1_Request_Display1 = FALSE; |
| 734 | } |
752 | } |
| 735 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
753 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
| 736 | { |
754 | { |
| 737 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
755 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
| 738 | UART1_Request_VersionInfo = FALSE; |
756 | UART1_Request_VersionInfo = FALSE; |
| 739 | } |
757 | } |
| 740 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
758 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
| 741 | { |
759 | { |
| 742 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
760 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
| 743 | UART1_Request_ErrorMessage = FALSE; |
761 | UART1_Request_ErrorMessage = FALSE; |
| 744 | } |
762 | } |
| - | 763 | #ifdef FOLLOW_ME |
|
| - | 764 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
|
| - | 765 | { |
|
| - | 766 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
|
| - | 767 | { |
|
| - | 768 | TransmitAlsoToFC = 1; |
|
| - | 769 | // update FollowMe content |
|
| - | 770 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
|
| - | 771 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
|
| - | 772 | FollowMe.Position.Status = NEWDATA; |
|
| - | 773 | FollowMe.Position.Altitude = 1; |
|
| - | 774 | // 0 -> no Orientation |
|
| - | 775 | // 1-360 -> CompassCourse Setpoint |
|
| - | 776 | // -1 -> points to WP1 -> itself |
|
| - | 777 | FollowMe.Heading = -1; |
|
| - | 778 | FollowMe.ToleranceRadius = 1; |
|
| - | 779 | FollowMe.HoldTime = 60; |
|
| - | 780 | FollowMe.Event_Flag = 1; |
|
| - | 781 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
|
| - | 782 | FollowMe.Type = POINT_TYPE_WP; |
|
| - | 783 | FollowMe.WP_EventChannelValue = 100; // set servo value |
|
| - | 784 | FollowMe.AltitudeRate = 0; // do not change height |
|
| - | 785 | FollowMe.reserve[0] = 0; // reserve |
|
| - | 786 | FollowMe.reserve[1] = 0; // reserve |
|
| - | 787 | FollowMe.reserve[2] = 0; // reserve |
|
| - | 788 | FollowMe.reserve[3] = 0; // reserve |
|
| - | 789 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
|
| - | 790 | } |
|
| - | 791 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
|
| - | 792 | } |
|
| - | 793 | #endif |
|
| 745 | #ifdef DEBUG // only include functions if DEBUG is defined |
794 | #ifdef DEBUG // only include functions if DEBUG is defined |
| 746 | if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
795 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
| 747 | { |
796 | { |
| 748 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
797 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
| 749 | SendDebugOutput = 0; |
798 | SendDebugOutput = 0; |
| 750 | } |
799 | } |
| 751 | #endif |
800 | #endif |
| 752 | UART1_Transmit(); // output pending bytes in tx buffer |
801 | UART1_Transmit(); // output pending bytes in tx buffer |
| 753 | } |
802 | } |
| 754 | 803 | ||
| 755 | 804 | ||