WebSVN - NaviCtrl - Diff - Rev 184 and 189


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + 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 oder Nutzung 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.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
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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"
#include "params.h"
#include "fifo.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_Request_ParameterId    = 0;
u8 UART1_Request_Parameter              = FALSE;
u8 UART1_DisplayLine                    = 0;
u8 UART1_ConfirmFrame                   = 0;
 
UART_TypeDef *DebugUART = UART1;
 
// the primary rx fifo
#define UART1_RX_FIFO_LEN 1024
u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN];
fifo_t UART1_rx_fifo;
 
// the rx buffer
#define UART1_RX_BUFFER_LEN  150
u8 UART1_rbuffer[UART1_RX_BUFFER_LEN];
Buffer_t UART1_rx_buffer;
 
// the tx buffer
#define UART1_TX_BUFFER_LEN  150
u8 UART1_tbuffer[UART1_TX_BUFFER_LEN];
Buffer_t UART1_tx_buffer;
 
 
 
volatile u8 SerialLinkOkay = 0;
 
u8 text[200];
 
const u8 ANALOG_LABEL[32][16] =
{
   //1234567890123456
        "AngleNick       ", //0
        "AngleRoll       ",
        "AccNick         ",
        "AccRoll         ",
        "                ",
        "MK-Flags        ", //5
        "NC-Flags        ",
        "NickServo       ",
        "RollServo       ",
        "GPS Data        ",
        "CompassHeading  ", //10
        "GyroHeading     ",
        "SPI Error       ",
        "SPI Okay        ",
        "I2C Error       ",
        "I2C Okay        ", //15
        "                ",//    "Kalman_K        ",
        "ACC_Speed_N     ",
        "ACC_Speed_E     ",
        "Speed_z         ",//    "GPS ACC         ",
        "                ",//    "MAXDrift        ", //20
        "N_Speed         ",
        "E_Speed         ",
        "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;
 
        // initialize txd buffer
        Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN);
 
        // initialize rxd buffer
        Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN);
 
        // initialize the rx fifo
        fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN);
 
        SCU_APBPeriphClockConfig(__UART1, ENABLE);  // Enable the UART1 Clock
        SCU_APBPeriphClockConfig(__GPIO3, ENABLE);  // Enable the GPIO3 Clock
 
        /*Configure UART1_Rx pin GPIO3.2*/
        GPIO_StructInit(&GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;
        GPIO_InitStructure.GPIO_Pin =                   GPIO_Pin_2;
        GPIO_InitStructure.GPIO_Type =                  GPIO_Type_PushPull;
        GPIO_InitStructure.GPIO_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;
 
        // 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
                                                                fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer
                                                        }
                                                        DebugUART = UART1;
                                                }
                                                abortState = 0;
                                                break;
                                } // end switch abort state
                                // if the Debug uart is not UART1, redirect input to the Debug UART
                                if (DebugUART != UART1)
                                {
                                        // wait for space in the tx buffer of the DebugUART
                                        while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {};
                                        // move byte to the tx fifo of the debug uart
                                        UART_SendData(DebugUART, c);
                                }
                        }
                }
                else  // DebugUART == UART1 (normal operation)
                {
                        while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)
                        { // some byes in the hardware fifo
                            // get byte from hardware fifo
                        c = UART_ReceiveData(UART1);
                                // put into the software fifo
                                if(!fifo_put(&UART1_rx_fifo, c))
                                {       // fifo overflow
                                        //fifo_purge(&UART1_rx_fifo); // flush the whole buffer
                                }
                        } // EOF while some byes in the hardware fifo
                } // eof DebugUart = UART1
        }
}
 
/**************************************************************/
/* Process incomming data from debug uart                     */
/**************************************************************/
void UART1_ProcessRxData(void)
{
        // return on forwarding uart  or unlocked rx buffer
        if(DebugUART != UART1) return;
 
        u8 c;
        // if rx buffer is not locked
        if(UART1_rx_buffer.Locked == FALSE)
        {   //collect data from primary rx fifo
                while(fifo_get(&UART1_rx_fifo, &c))
                {       // break if complete frame is collected
                        if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break;
                }
        }
        if(UART1_rx_buffer.Locked == FALSE) return;
 
        Waypoint_t * pWaypoint = NULL;
        SerialMsg_t SerialMsg;
 
        MKProtocol_DecodeSerialFrame(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer
    if(*(SerialMsg.pCmdID) != 'z') SerialLinkOkay = 250;          // reset SerialTimeout, but not in case of the "ping"
        switch(*(SerialMsg.pAddress)) // check for Slave Address
        {
                case NC_ADDRESS:  // own Slave Address
                switch(*(SerialMsg.pCmdID))
                {
                        case 'z': // connection checker
                                memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern
                                UART1_Request_Echo = TRUE;
                                break;
 
                        case 'e': // request for the text of the error status
                                UART1_Request_ErrorMessage = TRUE;
                                break;
 
                        case 's'://  new target position
                                pWaypoint = (Waypoint_t*)SerialMsg.pData;
                                BeepTime = 300;
                                if(pWaypoint->Position.Status == NEWDATA)
                                {
                                        WPList_Clear(); // empty WPList
                                        WPList_Append(pWaypoint);
                                        GPS_pWaypoint = WPList_Begin();
                                }
                                break;
 
                        case 'u': // redirect debug uart
                                switch(SerialMsg.pData[0])
                                {
                                        case UART_FLIGHTCTRL:
                                                UART2_Init();                           // initialize UART2 to FC pins
                                                fifo_purge(&UART1_rx_fifo);
                                                TIMER2_Deinit();                        // reduce irq load
                                                DebugUART = UART2;
                                                break;
                                        case UART_MK3MAG:
                                                if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running
                                                UART0_Connect_to_MK3MAG();      // mux UART0 to MK3MAG pins
                                                GPSData.Status = INVALID;
                                                fifo_purge(&UART1_rx_fifo);
                                                DebugUART = UART0;
                                                break;
                                        case UART_MKGPS:
                                                if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running
                                                TIMER2_Deinit();                        // disable servo outputs to reduce irq load
                                                UART0_Connect_to_MKGPS();       // connect UART0 to MKGPS pins
                                                GPSData.Status = INVALID;
                                                fifo_purge(&UART1_rx_fifo);
                                                DebugUART = UART0;
                                                break;
                                        default:
                                                break;
                                }
                                break;
 
                        case 'w'://  Append Waypoint to List
                                {
                                        static u8 oldIndex = 0x00;
 
                                        pWaypoint = (Waypoint_t*)SerialMsg.pData;
                                        if(pWaypoint->Position.Status == INVALID)
                                        {  // clear WP List
                                                WPList_Clear();
                                                oldIndex = 0x00;
                                                GPS_pWaypoint = WPList_Begin();
                                                UART1_Request_NewWaypoint = TRUE;
                                        }
                                        else if (pWaypoint->Position.Status == NEWDATA)
                                        {  // app current WP to the list
                                                 if (pWaypoint->Index == oldIndex + 1)
                                                {
                                                        WPList_Append(pWaypoint);
                                                        BeepTime = 500;
                                                        oldIndex = pWaypoint->Index;
                                                        UART1_Request_NewWaypoint = TRUE;
                                                }
                                        }
                                }
                                break;
 
                        case 'x'://  Read Waypoint from List
                                UART1_Request_ReadWaypoint = SerialMsg.pData[0];
                                break;
 
                        case 'j':// Set/Get NC-Parameter
                                switch(SerialMsg.pData[0])
                                {
                                        case 0: // get
                                        break;
 
                                        case 1: // set
                                        {
                                                s16 value;
                                                value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100;
                                                NCParams_SetValue(SerialMsg.pData[1], &value);
                                        }
                                        break;
 
                                        default:
                                        break;
                                }
                                UART1_Request_ParameterId = SerialMsg.pData[1];
                                UART1_Request_Parameter = TRUE;
                                break;
                        default:
                                // unsupported command recieved
                                break;
                } // case NC_ADDRESS
                // "break;" is missing here to fall thru to the common commands
 
                default:  // and any other Slave Address
 
                switch(*(SerialMsg.pCmdID)) // 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); // free rc buffer for next frame
}
 
 
/*****************************************************/
/*                   Send a character                */
/*****************************************************/
s16 UART1_Putchar(char c)
{
        if (c == '\n') UART1_Putchar('\r');
        // wait until txd fifo is not full
        while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET);
        // transmit byte
        UART_SendData(UART1, c);
        return (0);
}
 
/*****************************************************/
/*       Send a string to the debug uart              */
/*****************************************************/
void UART1_PutString(u8 *s)
{
        if(s == NULL) return;
        while (*s != '\0' && DebugUART == UART1)
        {
                UART1_Putchar(*s);
                s ++;
        }
}
 
 
/**************************************************************/
/*         Transmit tx buffer via debug uart                  */
/**************************************************************/
void UART1_Transmit(void)
{
        u8 tmp_tx;
        if(DebugUART != UART1) return;
        // if something has to be send and the txd fifo is not full
        if(UART1_tx_buffer.Locked == TRUE)
        {
                // while there is some space in the tx fifo
                while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET)
                {
                        tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer
                        UART_SendData(UART1, tmp_tx); // put character to txd fifo
                        // if terminating character or end of txd buffer reached
                        if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes))
                        {
                                Buffer_Clear(&UART1_tx_buffer); // clear txd buffer
                                break; // end while loop
                        }
                }
        }
}
 
/**************************************************************/
/* Send the answers to incomming commands at the debug uart   */
/**************************************************************/
void UART1_TransmitTxData(void)
{
        if(DebugUART != UART1) return;
        UART1_Transmit(); // output pending bytes in tx buffer
        if((UART1_tx_buffer.Locked == TRUE)) return;
 
        if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE))
        {
                s16 ParamValue;
                NCParams_GetValue(UART1_Request_ParameterId, &ParamValue);
                //sprintf(text, "\r\nId=%d, value = %d\r\n", UART1_Request_ParameterId, ParamValue);
                //UART1_PutString(text);
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request
                UART1_Request_Parameter = FALSE;
        }
        else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE))
        {
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request
                Echo = 0; // reset echo value
                UART1_Request_Echo = FALSE;
        }
        else if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE))
        {
                u8 WPNumber = WPList_GetCount();
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber));
                UART1_Request_NewWaypoint = FALSE;
        }
        else if((UART1_Request_ReadWaypoint != 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;
        }
        else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE))
        {
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16);
                UART1_Request_DebugLabel = 0xFF;
        }
        else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE))
        {
                NaviData.Errorcode = ErrorCode;
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData));
                UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval);
                UART1_Request_NaviData = FALSE;
        }
        else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE))
        {
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut));
                UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval);
                UART1_Request_DebugData = FALSE;
        }
        else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE))
        {
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D));
                UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval);
                UART1_Request_Data3D = FALSE;
        }
        else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE))
        {
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame));
                UART1_ConfirmFrame = 0;
        }
        else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE))
        {
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl));
                UART1_Request_ExternalControl = FALSE;
        }
        else if(UART1_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;
        }
        else 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;
        }
        else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE))
        {
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo));
                UART1_Request_VersionInfo = FALSE;
        }
        else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE))
        {
                MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG));
                UART1_Request_ErrorMessage = FALSE;
        }
        else 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;
        }
        UART1_Transmit(); // output pending bytes in tx buffer
}
 
 

Rev 184	Rev 189
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) 2008 Ingo Busker, Holger Buss	5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY	6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
7	// + FOR NON COMMERCIAL USE ONLY	7	// + FOR NON COMMERCIAL USE ONLY
8	// + www.MikroKopter.com	8	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
15	// + Verkauf von Luftbildaufnahmen, usw.	15	// + Verkauf von Luftbildaufnahmen, usw.
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
22	// + eindeutig als Ursprung verlinkt werden	22	// + eindeutig als Ursprung verlinkt werden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
25	// + Benutzung auf eigene Gefahr	25	// + Benutzung auf eigene Gefahr
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
29	// + mit unserer Zustimmung zulässig	29	// + mit unserer Zustimmung zulässig
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen	31	// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	32	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	33	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
34	// + this list of conditions and the following disclaimer.	34	// + this list of conditions and the following disclaimer.
35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	35	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
36	// + from this software without specific prior written permission.	36	// + from this software without specific prior written permission.
37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted	37	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
38	// + for non-commercial use (directly or indirectly)	38	// + for non-commercial use (directly or indirectly)
39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	39	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
40	// + with our written permission	40	// + with our written permission
41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	41	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
42	// + clearly linked as origin	42	// + clearly linked as origin
43	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	43	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
44	//	44	//
45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	45	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	46	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	47	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	48	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	49	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	50	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	51	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	52	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	53	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	54	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
55	// + POSSIBILITY OF SUCH DAMAGE.	55	// + POSSIBILITY OF SUCH DAMAGE.
56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	56	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
57	#include <stdio.h>	57	#include <stdio.h>
58	#include <stdarg.h>	58	#include <stdarg.h>
59	#include <string.h>	59	#include <string.h>
60		60
61	#include "91x_lib.h"	61	#include "91x_lib.h"
62	#include "config.h"	62	#include "config.h"
63	#include "menu.h"	63	#include "menu.h"
64	#include "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	#include "params.h"	76	#include "params.h"
77	#include "fifo.h"	77	#include "fifo.h"
78		78
79	#define FALSE 0	79	#define FALSE 0
80	#define TRUE 1	80	#define TRUE 1
81		81
82		82
83	u8 UART1_Request_VersionInfo = FALSE;	83	u8 UART1_Request_VersionInfo = FALSE;
84	u8 UART1_Request_SendFollowMe = FALSE;	84	u8 UART1_Request_SendFollowMe = FALSE;
85	u8 UART1_Request_ExternalControl= FALSE;	85	u8 UART1_Request_ExternalControl= FALSE;
86	u8 UART1_Request_Display = FALSE;	86	u8 UART1_Request_Display = FALSE;
87	u8 UART1_Request_Display1 = FALSE;	87	u8 UART1_Request_Display1 = FALSE;
88	u8 UART1_Request_DebugData = FALSE;	88	u8 UART1_Request_DebugData = FALSE;
89	u8 UART1_Request_DebugLabel = 255;	89	u8 UART1_Request_DebugLabel = 255;
90	u8 UART1_Request_NaviData = FALSE;	90	u8 UART1_Request_NaviData = FALSE;
91	u8 UART1_Request_ErrorMessage = FALSE;	91	u8 UART1_Request_ErrorMessage = FALSE;
92	u8 UART1_Request_NewWaypoint = FALSE;	92	u8 UART1_Request_NewWaypoint = FALSE;
93	u8 UART1_Request_ReadWaypoint = 255;	93	u8 UART1_Request_ReadWaypoint = 255;
94	u8 UART1_Request_Data3D = FALSE;	94	u8 UART1_Request_Data3D = FALSE;
95	u8 UART1_Request_Echo = FALSE;	95	u8 UART1_Request_Echo = FALSE;
96	u8 UART1_Request_ParameterId = 0;	96	u8 UART1_Request_ParameterId = 0;
97	u8 UART1_Request_Parameter = FALSE;	97	u8 UART1_Request_Parameter = FALSE;
98	u8 UART1_DisplayLine = 0;	98	u8 UART1_DisplayLine = 0;
99	u8 UART1_ConfirmFrame = 0;	99	u8 UART1_ConfirmFrame = 0;
100		100
101	UART_TypeDef *DebugUART = UART1;	101	UART_TypeDef *DebugUART = UART1;
102		102
103	// the primary rx fifo	103	// the primary rx fifo
104	#define UART1_RX_FIFO_LEN 1024	104	#define UART1_RX_FIFO_LEN 1024
105	u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN];	105	u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN];
106	fifo_t UART1_rx_fifo;	106	fifo_t UART1_rx_fifo;
107		107
108	// the rx buffer	108	// the rx buffer
109	#define UART1_RX_BUFFER_LEN 150	109	#define UART1_RX_BUFFER_LEN 150
110	u8 UART1_rbuffer[UART1_RX_BUFFER_LEN];	110	u8 UART1_rbuffer[UART1_RX_BUFFER_LEN];
111	Buffer_t UART1_rx_buffer;	111	Buffer_t UART1_rx_buffer;
112		112
113	// the tx buffer	113	// the tx buffer
114	#define UART1_TX_BUFFER_LEN 150	114	#define UART1_TX_BUFFER_LEN 150
115	u8 UART1_tbuffer[UART1_TX_BUFFER_LEN];	115	u8 UART1_tbuffer[UART1_TX_BUFFER_LEN];
116	Buffer_t UART1_tx_buffer;	116	Buffer_t UART1_tx_buffer;
117		117
118		118
119		119
120	volatile u8 SerialLinkOkay = 0;	120	volatile u8 SerialLinkOkay = 0;
121		121
122	u8 text[200];	122	u8 text[200];
123		123
124	const u8 ANALOG_LABEL[32][16] =	124	const u8 ANALOG_LABEL[32][16] =
125	{	125	{
126	//1234567890123456	126	//1234567890123456
127	"AngleNick ", //0	127	"AngleNick ", //0
128	"AngleRoll ",	128	"AngleRoll ",
129	"AccNick ",	129	"AccNick ",
130	"AccRoll ",	130	"AccRoll ",
131	" ",	131	" ",
132	"MK-Flags ", //5	132	"MK-Flags ", //5
133	"NC-Flags ",	133	"NC-Flags ",
134	"NickServo ",	134	"NickServo ",
135	"RollServo ",	135	"RollServo ",
136	"GPS Data ",	136	"GPS Data ",
137	"CompassHeading ", //10	137	"CompassHeading ", //10
138	"GyroHeading ",	138	"GyroHeading ",
139	"SPI Error ",	139	"SPI Error ",
140	"SPI Okay ",	140	"SPI Okay ",
141	" ",	141	"I2C Error ",
142	"I2C Okay ", //15	142	"I2C Okay ", //15
143	" ",// "Kalman_K ",	143	" ",// "Kalman_K ",
144	"ACC_Speed_N ",	144	"ACC_Speed_N ",
145	"ACC_Speed_E ",	145	"ACC_Speed_E ",
146	"Speed_z ",// "GPS ACC ",	146	"Speed_z ",// "GPS ACC ",
147	" ",// "MAXDrift ", //20	147	" ",// "MAXDrift ", //20
148	"N_Speed ",	148	"N_Speed ",
149	"E_Speed ",	149	"E_Speed ",
150	"P-Part ",	150	"P-Part ",
151	"I-Part ",	151	"I-Part ",
152	"D-Part ",//25	152	"D-Part ",//25
153	"PID-Part ",	153	"PID-Part ",
154	"Distance N ",	154	"Distance N ",
155	"Distance E ",	155	"Distance E ",
156	"GPS_Nick ",	156	"GPS_Nick ",
157	"GPS_Roll ", //30	157	"GPS_Roll ", //30
158	"Used_Sats "	158	"Used_Sats "
159	};	159	};
160		160
161	DebugOut_t DebugOut;	161	DebugOut_t DebugOut;
162	ExternControl_t ExternControl;	162	ExternControl_t ExternControl;
163	UART_VersionInfo_t UART_VersionInfo;	163	UART_VersionInfo_t UART_VersionInfo;
164	NaviData_t NaviData;	164	NaviData_t NaviData;
165	Waypoint_t FollowMe;	165	Waypoint_t FollowMe;
166	Data3D_t Data3D;	166	Data3D_t Data3D;
167	u16 Echo; // 2 bytes recieved will be sent back as echo	167	u16 Echo; // 2 bytes recieved will be sent back as echo
168		168
169	u32 UART1_DebugData_Timer;	169	u32 UART1_DebugData_Timer;
170	u32 UART1_DebugData_Interval = 5000; // in ms	170	u32 UART1_DebugData_Interval = 5000; // in ms
171	u32 UART1_NaviData_Timer;	171	u32 UART1_NaviData_Timer;
172	u32 UART1_NaviData_Interval = 5000; // in ms	172	u32 UART1_NaviData_Interval = 5000; // in ms
173	u32 UART1_Data3D_Timer = 0; // in ms	173	u32 UART1_Data3D_Timer = 0; // in ms
174	u32 UART1_Data3D_Interval = 0;	174	u32 UART1_Data3D_Interval = 0;
175		175
176	/********************************************************/	176	/********************************************************/
177	/* Initialization the UART1 */	177	/* Initialization the UART1 */
178	/********************************************************/	178	/********************************************************/
179	void UART1_Init (void)	179	void UART1_Init (void)
180	{	180	{
181	GPIO_InitTypeDef GPIO_InitStructure;	181	GPIO_InitTypeDef GPIO_InitStructure;
182	UART_InitTypeDef UART_InitStructure;	182	UART_InitTypeDef UART_InitStructure;
183		183
184	// initialize txd buffer	184	// initialize txd buffer
185	Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN);	185	Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN);
186		186
187	// initialize rxd buffer	187	// initialize rxd buffer
188	Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN);	188	Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN);
189		189
190	// initialize the rx fifo	190	// initialize the rx fifo
191	fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN);	191	fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN);
192		192
193	SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock	193	SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock
194	SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock	194	SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock
195		195
196	/Configure UART1_Rx pin GPIO3.2/	196	/Configure UART1_Rx pin GPIO3.2/
197	GPIO_StructInit(&GPIO_InitStructure);	197	GPIO_StructInit(&GPIO_InitStructure);
198	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;	198	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
199	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;	199	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
200	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;	200	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
201	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;	201	GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable;
202	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD	202	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD
203	GPIO_Init(GPIO3, &GPIO_InitStructure);	203	GPIO_Init(GPIO3, &GPIO_InitStructure);
204		204
205	/Configure UART1_Tx pin GPIO3.3/	205	/Configure UART1_Tx pin GPIO3.3/
206	GPIO_StructInit(&GPIO_InitStructure);	206	GPIO_StructInit(&GPIO_InitStructure);
207	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;	207	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
208	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;	208	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
209	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;	209	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
210	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX	210	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX
211	GPIO_Init(GPIO3, &GPIO_InitStructure);	211	GPIO_Init(GPIO3, &GPIO_InitStructure);
212		212
213	/* UART1 configured as follow:	213	/* UART1 configured as follow:
214	- Word Length = 8 Bits	214	- Word Length = 8 Bits
215	- One Stop Bit	215	- One Stop Bit
216	- No parity	216	- No parity
217	- BaudRate = 57600 baud	217	- BaudRate = 57600 baud
218	- Hardware flow control Disabled	218	- Hardware flow control Disabled
219	- Receive and transmit enabled	219	- Receive and transmit enabled
220	- Receive and transmit FIFOs are Disabled	220	- Receive and transmit FIFOs are Disabled
221	*/	221	*/
222	UART_StructInit(&UART_InitStructure);	222	UART_StructInit(&UART_InitStructure);
223	UART_InitStructure.UART_WordLength = UART_WordLength_8D;	223	UART_InitStructure.UART_WordLength = UART_WordLength_8D;
224	UART_InitStructure.UART_StopBits = UART_StopBits_1;	224	UART_InitStructure.UART_StopBits = UART_StopBits_1;
225	UART_InitStructure.UART_Parity = UART_Parity_No ;	225	UART_InitStructure.UART_Parity = UART_Parity_No ;
226	UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE;	226	UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE;
227	UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None;	227	UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None;
228	UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx;	228	UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx;
229	UART_InitStructure.UART_FIFO = UART_FIFO_Enable;	229	UART_InitStructure.UART_FIFO = UART_FIFO_Enable;
230	UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2;	230	UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2;
231	UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2;	231	UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2;
232		232
233	UART_DeInit(UART1); // reset uart 1 to default	233	UART_DeInit(UART1); // reset uart 1 to default
234	UART_Init(UART1, &UART_InitStructure); // initialize uart 1	234	UART_Init(UART1, &UART_InitStructure); // initialize uart 1
235	// enable uart 1 interrupts selective	235	// enable uart 1 interrupts selective
236	UART_ITConfig(UART1, UART_IT_Receive \| UART_IT_ReceiveTimeOut, ENABLE);	236	UART_ITConfig(UART1, UART_IT_Receive \| UART_IT_ReceiveTimeOut, ENABLE);
237	UART_Cmd(UART1, ENABLE); // enable uart 1	237	UART_Cmd(UART1, ENABLE); // enable uart 1
238	// configure the uart 1 interupt line	238	// configure the uart 1 interupt line
239	VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1);	239	VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1);
240	// enable the uart 1 IRQ	240	// enable the uart 1 IRQ
241	VIC_ITCmd(UART1_ITLine, ENABLE);	241	VIC_ITCmd(UART1_ITLine, ENABLE);
242		242
243	// initialize the debug timer	243	// initialize the debug timer
244	UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval);	244	UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval);
245	UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500;	245	UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500;
246		246
247	// Fill Version Info Structure	247	// Fill Version Info Structure
248	UART_VersionInfo.SWMajor = VERSION_MAJOR;	248	UART_VersionInfo.SWMajor = VERSION_MAJOR;
249	UART_VersionInfo.SWMinor = VERSION_MINOR;	249	UART_VersionInfo.SWMinor = VERSION_MINOR;
250	UART_VersionInfo.SWPatch = VERSION_PATCH;	250	UART_VersionInfo.SWPatch = VERSION_PATCH;
251	UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;	251	UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;
252	UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;	252	UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;
253		253
254	NaviData.Version = NAVIDATA_VERSION;	254	NaviData.Version = NAVIDATA_VERSION;
255		255
256	UART1_PutString("\r\nUART1 init...ok");	256	UART1_PutString("\r\nUART1 init...ok");
257	}	257	}
258		258
259		259
260	/****************************************************************/	260	/****************************************************************/
261	/* USART1 receiver ISR */	261	/* USART1 receiver ISR */
262	/****************************************************************/	262	/****************************************************************/
263	void UART1_IRQHandler(void)	263	void UART1_IRQHandler(void)
264	{	264	{
265	static u8 abortState = 0;	265	static u8 abortState = 0;
266	u8 c;	266	u8 c;
267		267
268	if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) \|\| (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) )	268	if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) \|\| (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) )
269	{	269	{
270	// clear the pending bits!	270	// clear the pending bits!
271	UART_ClearITPendingBit(UART1, UART_IT_Receive);	271	UART_ClearITPendingBit(UART1, UART_IT_Receive);
272	UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut);	272	UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut);
273	// if debug UART is not UART1	273	// if debug UART is not UART1
274	if (DebugUART != UART1)	274	if (DebugUART != UART1)
275	{ // forward received data to the debug UART tx buffer	275	{ // forward received data to the debug UART tx buffer
276	while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)	276	while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)
277	{	277	{
278	// move the byte from the rx buffer of UART1 to the tx buffer of DebugUART	278	// move the byte from the rx buffer of UART1 to the tx buffer of DebugUART
279	c = UART_ReceiveData(UART1);	279	c = UART_ReceiveData(UART1);
280		280
281	// check for abort condition (ESC ESC 0x55 0xAA 0x00)	281	// check for abort condition (ESC ESC 0x55 0xAA 0x00)
282	switch (abortState)	282	switch (abortState)
283	{	283	{
284	case 0:	284	case 0:
285	if (c == 27) abortState++;	285	if (c == 27) abortState++;
286	break;	286	break;
287	case 1:	287	case 1:
288	if (c == 27) abortState++;	288	if (c == 27) abortState++;
289	else abortState = 0;	289	else abortState = 0;
290	break;	290	break;
291	case 2:	291	case 2:
292	if (c == 0x55) abortState++;	292	if (c == 0x55) abortState++;
293	else abortState = 0;	293	else abortState = 0;
294	break;	294	break;
295	case 3:	295	case 3:
296	if (c == 0xAA) abortState++;	296	if (c == 0xAA) abortState++;
297	else abortState = 0;	297	else abortState = 0;
298	break;	298	break;
299	case 4:	299	case 4:
300	if (c == 0x00)	300	if (c == 0x00)
301	{	301	{
302	if(DebugUART == UART0)	302	if(DebugUART == UART0)
303	{	303	{
304	UART0_Connect_to_MKGPS();	304	UART0_Connect_to_MKGPS();
305	TIMER2_Init(); // enbable servo outputs	305	TIMER2_Init(); // enbable servo outputs
306	fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer	306	fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer
307	}	307	}
308	DebugUART = UART1;	308	DebugUART = UART1;
309	}	309	}
310	abortState = 0;	310	abortState = 0;
311	break;	311	break;
312	} // end switch abort state	312	} // end switch abort state
313	// if the Debug uart is not UART1, redirect input to the Debug UART	313	// if the Debug uart is not UART1, redirect input to the Debug UART
314	if (DebugUART != UART1)	314	if (DebugUART != UART1)
315	{	315	{
316	// wait for space in the tx buffer of the DebugUART	316	// wait for space in the tx buffer of the DebugUART
317	while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {};	317	while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {};
318	// move byte to the tx fifo of the debug uart	318	// move byte to the tx fifo of the debug uart
319	UART_SendData(DebugUART, c);	319	UART_SendData(DebugUART, c);
320	}	320	}
321	}	321	}
322	}	322	}
323	else // DebugUART == UART1 (normal operation)	323	else // DebugUART == UART1 (normal operation)
324	{	324	{
325	while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)	325	while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)
326	{ // some byes in the hardware fifo	326	{ // some byes in the hardware fifo
327	// get byte from hardware fifo	327	// get byte from hardware fifo
328	c = UART_ReceiveData(UART1);	328	c = UART_ReceiveData(UART1);
329	// put into the software fifo	329	// put into the software fifo
330	if(!fifo_put(&UART1_rx_fifo, c))	330	if(!fifo_put(&UART1_rx_fifo, c))
331	{ // fifo overflow	331	{ // fifo overflow
332	//fifo_purge(&UART1_rx_fifo); // flush the whole buffer	332	//fifo_purge(&UART1_rx_fifo); // flush the whole buffer
333	}	333	}
334	} // EOF while some byes in the hardware fifo	334	} // EOF while some byes in the hardware fifo
335	} // eof DebugUart = UART1	335	} // eof DebugUart = UART1
336	}	336	}
337	}	337	}
338		338
339	/**************************************************************/	339	/**************************************************************/
340	/* Process incomming data from debug uart */	340	/* Process incomming data from debug uart */
341	/**************************************************************/	341	/**************************************************************/
342	void UART1_ProcessRxData(void)	342	void UART1_ProcessRxData(void)
343	{	343	{
344	// return on forwarding uart or unlocked rx buffer	344	// return on forwarding uart or unlocked rx buffer
345	if(DebugUART != UART1) return;	345	if(DebugUART != UART1) return;
346		346
347	u8 c;	347	u8 c;
348	// if rx buffer is not locked	348	// if rx buffer is not locked
349	if(UART1_rx_buffer.Locked == FALSE)	349	if(UART1_rx_buffer.Locked == FALSE)
350	{ //collect data from primary rx fifo	350	{ //collect data from primary rx fifo
351	while(fifo_get(&UART1_rx_fifo, &c))	351	while(fifo_get(&UART1_rx_fifo, &c))
352	{ // break if complete frame is collected	352	{ // break if complete frame is collected
353	if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break;	353	if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break;
354	}	354	}
355	}	355	}
356	if(UART1_rx_buffer.Locked == FALSE) return;	356	if(UART1_rx_buffer.Locked == FALSE) return;
357		357
358	Waypoint_t * pWaypoint = NULL;	358	Waypoint_t * pWaypoint = NULL;
359	SerialMsg_t SerialMsg;	359	SerialMsg_t SerialMsg;
360		360
361	MKProtocol_DecodeSerialFrame(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer	361	MKProtocol_DecodeSerialFrame(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer
362	if(*(SerialMsg.pCmdID) != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping"	362	if(*(SerialMsg.pCmdID) != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping"
363	switch(*(SerialMsg.pAddress)) // check for Slave Address	363	switch(*(SerialMsg.pAddress)) // check for Slave Address
364	{	364	{
365	case NC_ADDRESS: // own Slave Address	365	case NC_ADDRESS: // own Slave Address
366	switch(*(SerialMsg.pCmdID))	366	switch(*(SerialMsg.pCmdID))
367	{	367	{
368	case 'z': // connection checker	368	case 'z': // connection checker
369	memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern	369	memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern
370	UART1_Request_Echo = TRUE;	370	UART1_Request_Echo = TRUE;
371	break;	371	break;
372		372
373	case 'e': // request for the text of the error status	373	case 'e': // request for the text of the error status
374	UART1_Request_ErrorMessage = TRUE;	374	UART1_Request_ErrorMessage = TRUE;
375	break;	375	break;
376		376
377	case 's':// new target position	377	case 's':// new target position
378	pWaypoint = (Waypoint_t*)SerialMsg.pData;	378	pWaypoint = (Waypoint_t*)SerialMsg.pData;
379	BeepTime = 300;	379	BeepTime = 300;
380	if(pWaypoint->Position.Status == NEWDATA)	380	if(pWaypoint->Position.Status == NEWDATA)
381	{	381	{
382	WPList_Clear(); // empty WPList	382	WPList_Clear(); // empty WPList
383	WPList_Append(pWaypoint);	383	WPList_Append(pWaypoint);
384	GPS_pWaypoint = WPList_Begin();	384	GPS_pWaypoint = WPList_Begin();
385	}	385	}
386	break;	386	break;
387		387
388	case 'u': // redirect debug uart	388	case 'u': // redirect debug uart
389	switch(SerialMsg.pData[0])	389	switch(SerialMsg.pData[0])
390	{	390	{
391	case UART_FLIGHTCTRL:	391	case UART_FLIGHTCTRL:
392	UART2_Init(); // initialize UART2 to FC pins	392	UART2_Init(); // initialize UART2 to FC pins
393	fifo_purge(&UART1_rx_fifo);	393	fifo_purge(&UART1_rx_fifo);
394	TIMER2_Deinit(); // reduce irq load	394	TIMER2_Deinit(); // reduce irq load
395	DebugUART = UART2;	395	DebugUART = UART2;
396	break;	396	break;
397	case UART_MK3MAG:	397	case UART_MK3MAG:
398	if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running	398	if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running
399	UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins	399	UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins
400	GPSData.Status = INVALID;	400	GPSData.Status = INVALID;
401	fifo_purge(&UART1_rx_fifo);	401	fifo_purge(&UART1_rx_fifo);
402	DebugUART = UART0;	402	DebugUART = UART0;
403	break;	403	break;
404	case UART_MKGPS:	404	case UART_MKGPS:
405	if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running	405	if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running
406	TIMER2_Deinit(); // disable servo outputs to reduce irq load	406	TIMER2_Deinit(); // disable servo outputs to reduce irq load
407	UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins	407	UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins
408	GPSData.Status = INVALID;	408	GPSData.Status = INVALID;
409	fifo_purge(&UART1_rx_fifo);	409	fifo_purge(&UART1_rx_fifo);
410	DebugUART = UART0;	410	DebugUART = UART0;
411	break;	411	break;
412	default:	412	default:
413	break;	413	break;
414	}	414	}
415	break;	415	break;
416		416
417	case 'w':// Append Waypoint to List	417	case 'w':// Append Waypoint to List
418	{	418	{
419	static u8 oldIndex = 0x00;	419	static u8 oldIndex = 0x00;
420		420
421	pWaypoint = (Waypoint_t*)SerialMsg.pData;	421	pWaypoint = (Waypoint_t*)SerialMsg.pData;
422	if(pWaypoint->Position.Status == INVALID)	422	if(pWaypoint->Position.Status == INVALID)
423	{ // clear WP List	423	{ // clear WP List
424	WPList_Clear();	424	WPList_Clear();
425	oldIndex = 0x00;	425	oldIndex = 0x00;
426	GPS_pWaypoint = WPList_Begin();	426	GPS_pWaypoint = WPList_Begin();
427	UART1_Request_NewWaypoint = TRUE;	427	UART1_Request_NewWaypoint = TRUE;
428	}	428	}
429	else if (pWaypoint->Position.Status == NEWDATA)	429	else if (pWaypoint->Position.Status == NEWDATA)
430	{ // app current WP to the list	430	{ // app current WP to the list
431	if (pWaypoint->Index == oldIndex + 1)	431	if (pWaypoint->Index == oldIndex + 1)
432	{	432	{
433	WPList_Append(pWaypoint);	433	WPList_Append(pWaypoint);
434	BeepTime = 500;	434	BeepTime = 500;
435	oldIndex = pWaypoint->Index;	435	oldIndex = pWaypoint->Index;
436	UART1_Request_NewWaypoint = TRUE;	436	UART1_Request_NewWaypoint = TRUE;
437	}	437	}
438	}	438	}
439	}	439	}
440	break;	440	break;
441		441
442	case 'x':// Read Waypoint from List	442	case 'x':// Read Waypoint from List
443	UART1_Request_ReadWaypoint = SerialMsg.pData[0];	443	UART1_Request_ReadWaypoint = SerialMsg.pData[0];
444	break;	444	break;
445		445
446	case 'j':// Set/Get NC-Parameter	446	case 'j':// Set/Get NC-Parameter
447	switch(SerialMsg.pData[0])	447	switch(SerialMsg.pData[0])
448	{	448	{
449	case 0: // get	449	case 0: // get
450	break;	450	break;
451		451
452	case 1: // set	452	case 1: // set
453	{	453	{
454	s16 value;	454	s16 value;
455	value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100;	455	value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100;
456	NCParams_SetValue(SerialMsg.pData[1], &value);	456	NCParams_SetValue(SerialMsg.pData[1], &value);
457	}	457	}
458	break;	458	break;
459		459
460	default:	460	default:
461	break;	461	break;
462	}	462	}
463	UART1_Request_ParameterId = SerialMsg.pData[1];	463	UART1_Request_ParameterId = SerialMsg.pData[1];
464	UART1_Request_Parameter = TRUE;	464	UART1_Request_Parameter = TRUE;
465	break;	465	break;
466	default:	466	default:
467	// unsupported command recieved	467	// unsupported command recieved
468	break;	468	break;
469	} // case NC_ADDRESS	469	} // case NC_ADDRESS
470	// "break;" is missing here to fall thru to the common commands	470	// "break;" is missing here to fall thru to the common commands
471		471
472	default: // and any other Slave Address	472	default: // and any other Slave Address
473		473
474	switch(*(SerialMsg.pCmdID)) // check CmdID	474	switch(*(SerialMsg.pCmdID)) // check CmdID
475	{	475	{
476	case 'a':// request for the labels of the analog debug outputs	476	case 'a':// request for the labels of the analog debug outputs
477	UART1_Request_DebugLabel = SerialMsg.pData[0];	477	UART1_Request_DebugLabel = SerialMsg.pData[0];
478	if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31;	478	if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31;
479	break;	479	break;
480		480
481	case 'b': // submit extern control	481	case 'b': // submit extern control
482	memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl));	482	memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl));
483	UART1_ConfirmFrame = ExternControl.Frame;	483	UART1_ConfirmFrame = ExternControl.Frame;
484	break;	484	break;
485		485
486	case 'd': // request for debug data;	486	case 'd': // request for debug data;
487	UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10;	487	UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10;
488	if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE;	488	if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE;
489	break;	489	break;
490		490
491	case 'c': // request for 3D data;	491	case 'c': // request for 3D data;
492	UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10;	492	UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10;
493	if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE;	493	if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE;
494	break;	494	break;
495		495
496	case 'g':// request for external control data	496	case 'g':// request for external control data
497	UART1_Request_ExternalControl = TRUE;	497	UART1_Request_ExternalControl = TRUE;
498	break;	498	break;
499		499
500	case 'h':// reqest for display line	500	case 'h':// reqest for display line

Subversion Repositories NaviCtrl

(root)/tags/V0.28o/uart1.c @ 935 - Rev 184 → 189