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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 |
6 | // + Nur für den privaten Gebrauch |
| 7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| 25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| 38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 40 | // + with our written permission |
40 | // + with our written permission |
| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
| 43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
| 44 | // |
44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 57 | #include <stdio.h> |
57 | #include <stdio.h> |
| 58 | #include <stdarg.h> |
58 | #include <stdarg.h> |
| 59 | #include <string.h> |
59 | #include <string.h> |
| 60 | 60 | ||
| 61 | #include "91x_lib.h" |
61 | #include "91x_lib.h" |
| 62 | #include "config.h" |
62 | #include "config.h" |
| 63 | #include "menu.h" |
63 | #include "menu.h" |
| 64 | #include "printf_P.h" |
64 | #include "printf_P.h" |
| 65 | #include "GPS.h" |
65 | #include "GPS.h" |
| 66 | #include "i2c.h" |
66 | #include "i2c.h" |
| 67 | #include "uart0.h" |
67 | #include "uart0.h" |
| 68 | #include "uart1.h" |
68 | #include "uart1.h" |
| 69 | #include "uart2.h" |
69 | #include "uart2.h" |
| 70 | #include "timer1.h" |
70 | #include "timer1.h" |
| 71 | #include "timer2.h" |
71 | #include "timer2.h" |
| 72 | #include "analog.h" |
72 | #include "analog.h" |
| 73 | #include "main.h" |
73 | #include "main.h" |
| 74 | #include "waypoints.h" |
74 | #include "waypoints.h" |
| 75 | #include "mkprotocol.h" |
75 | #include "mkprotocol.h" |
| 76 | #include "fifo.h" |
76 | #include "fifo.h" |
| 77 | 77 | ||
| 78 | #define FALSE 0 |
78 | #define FALSE 0 |
| 79 | #define TRUE 1 |
79 | #define TRUE 1 |
| 80 | 80 | ||
| 81 | 81 | ||
| 82 | u8 UART1_Request_VersionInfo = FALSE; |
82 | u8 UART1_Request_VersionInfo = FALSE; |
| 83 | u8 UART1_Request_SendFollowMe = FALSE; |
83 | u8 UART1_Request_SendFollowMe = FALSE; |
| 84 | u8 UART1_Request_ExternalControl= FALSE; |
84 | u8 UART1_Request_ExternalControl= FALSE; |
| 85 | u8 UART1_Request_Display = FALSE; |
85 | u8 UART1_Request_Display = FALSE; |
| 86 | u8 UART1_Request_Display1 = FALSE; |
86 | u8 UART1_Request_Display1 = FALSE; |
| 87 | u8 UART1_Request_DebugData = FALSE; |
87 | u8 UART1_Request_DebugData = FALSE; |
| 88 | u8 UART1_Request_DebugLabel = 255; |
88 | u8 UART1_Request_DebugLabel = 255; |
| 89 | u8 UART1_Request_NaviData = FALSE; |
89 | u8 UART1_Request_NaviData = FALSE; |
| 90 | u8 UART1_Request_ErrorMessage = FALSE; |
90 | u8 UART1_Request_ErrorMessage = FALSE; |
| 91 | u8 UART1_Request_NewWaypoint = FALSE; |
91 | u8 UART1_Request_NewWaypoint = FALSE; |
| 92 | u8 UART1_Request_ReadWaypoint = 255; |
92 | u8 UART1_Request_ReadWaypoint = 255; |
| 93 | u8 UART1_Request_Data3D = FALSE; |
93 | u8 UART1_Request_Data3D = FALSE; |
| 94 | u8 UART1_Request_Echo = FALSE; |
94 | u8 UART1_Request_Echo = FALSE; |
| 95 | u8 UART1_DisplayLine = 0; |
95 | u8 UART1_DisplayLine = 0; |
| 96 | u8 UART1_ConfirmFrame = 0; |
96 | u8 UART1_ConfirmFrame = 0; |
| 97 | 97 | ||
| 98 | UART_TypeDef *DebugUART = UART1; |
98 | UART_TypeDef *DebugUART = UART1; |
| 99 | 99 | ||
| 100 | // the primary rx fifo |
100 | // the primary rx fifo |
| 101 | #define UART1_RX_FIFO_LEN 512 |
101 | #define UART1_RX_FIFO_LEN 1024 |
| 102 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
102 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
| 103 | fifo_t UART1_rx_fifo; |
103 | fifo_t UART1_rx_fifo; |
| 104 | 104 | ||
| 105 | // the rx buffer |
105 | // the rx buffer |
| 106 | #define UART1_RX_BUFFER_LEN 150 |
106 | #define UART1_RX_BUFFER_LEN 150 |
| 107 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
107 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
| 108 | Buffer_t UART1_rx_buffer; |
108 | Buffer_t UART1_rx_buffer; |
| 109 | 109 | ||
| 110 | // the tx buffer |
110 | // the tx buffer |
| 111 | #define UART1_TX_BUFFER_LEN 150 |
111 | #define UART1_TX_BUFFER_LEN 150 |
| 112 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
112 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
| 113 | Buffer_t UART1_tx_buffer; |
113 | Buffer_t UART1_tx_buffer; |
| 114 | 114 | ||
| 115 | 115 | ||
| 116 | 116 | ||
| 117 | volatile u8 SerialLinkOkay = 0; |
117 | volatile u8 SerialLinkOkay = 0; |
| 118 | 118 | ||
| 119 | u8 text[200]; |
119 | u8 text[200]; |
| 120 | 120 | ||
| 121 | const u8 ANALOG_LABEL[32][16] = |
121 | const u8 ANALOG_LABEL[32][16] = |
| 122 | { |
122 | { |
| 123 | //1234567890123456 |
123 | //1234567890123456 |
| 124 | "AngleNick ", //0 |
124 | "AngleNick ", //0 |
| 125 | "AngleRoll ", |
125 | "AngleRoll ", |
| 126 | "AccNick ", |
126 | "AccNick ", |
| 127 | "AccRoll ", |
127 | "AccRoll ", |
| 128 | " ", |
128 | " ", |
| 129 | "MK-Flags ", //5 |
129 | "MK-Flags ", //5 |
| 130 | "NC-Flags ", |
130 | "NC-Flags ", |
| 131 | "NickServo ", |
131 | "NickServo ", |
| 132 | "RollServo ", |
132 | "RollServo ", |
| 133 | "GPS Data ", |
133 | "GPS Data ", |
| 134 | "CompassHeading ", //10 |
134 | "CompassHeading ", //10 |
| 135 | "GyroHeading ", |
135 | "GyroHeading ", |
| 136 | "SPI Error ", |
136 | "SPI Error ", |
| 137 | "SPI Okay ", |
137 | "SPI Okay ", |
| 138 | "I2C Error ", |
138 | "I2C Error ", |
| 139 | "I2C Okay ", //15 |
139 | "I2C Okay ", //15 |
| 140 | " ",// "Kalman_K ", |
140 | " ",// "Kalman_K ", |
| 141 | "ACC_Speed_N ", |
141 | "ACC_Speed_N ", |
| 142 | "ACC_Speed_E ", |
142 | "ACC_Speed_E ", |
| 143 | "Speed_z ",// "GPS ACC ", |
143 | "Speed_z ",// "GPS ACC ", |
| 144 | " ",// "MAXDrift ", //20 |
144 | " ",// "MAXDrift ", //20 |
| 145 | "N_Speed ", |
145 | "N_Speed ", |
| 146 | "E_Speed ", |
146 | "E_Speed ", |
| 147 | "P-Part ", |
147 | "P-Part ", |
| 148 | "I-Part ", |
148 | "I-Part ", |
| 149 | "D-Part ",//25 |
149 | "D-Part ",//25 |
| 150 | "PID-Part ", |
150 | "PID-Part ", |
| 151 | "Distance N ", |
151 | "Distance N ", |
| 152 | "Distance E ", |
152 | "Distance E ", |
| 153 | "GPS_Nick ", |
153 | "GPS_Nick ", |
| 154 | "GPS_Roll ", //30 |
154 | "GPS_Roll ", //30 |
| 155 | "Used_Sats " |
155 | "Used_Sats " |
| 156 | }; |
156 | }; |
| 157 | 157 | ||
| 158 | DebugOut_t DebugOut; |
158 | DebugOut_t DebugOut; |
| 159 | ExternControl_t ExternControl; |
159 | ExternControl_t ExternControl; |
| 160 | UART_VersionInfo_t UART_VersionInfo; |
160 | UART_VersionInfo_t UART_VersionInfo; |
| 161 | NaviData_t NaviData; |
161 | NaviData_t NaviData; |
| 162 | Waypoint_t FollowMe; |
162 | Waypoint_t FollowMe; |
| 163 | Data3D_t Data3D; |
163 | Data3D_t Data3D; |
| 164 | u16 Echo; // 2 bytes recieved will be sent back as echo |
164 | u16 Echo; // 2 bytes recieved will be sent back as echo |
| 165 | 165 | ||
| 166 | u32 UART1_DebugData_Timer; |
166 | u32 UART1_DebugData_Timer; |
| 167 | u32 UART1_DebugData_Interval = 5000; // in ms |
167 | u32 UART1_DebugData_Interval = 5000; // in ms |
| 168 | u32 UART1_NaviData_Timer; |
168 | u32 UART1_NaviData_Timer; |
| 169 | u32 UART1_NaviData_Interval = 5000; // in ms |
169 | u32 UART1_NaviData_Interval = 5000; // in ms |
| 170 | u32 UART1_Data3D_Timer = 0; // in ms |
170 | u32 UART1_Data3D_Timer = 0; // in ms |
| 171 | u32 UART1_Data3D_Interval = 0; |
171 | u32 UART1_Data3D_Interval = 0; |
| 172 | 172 | ||
| 173 | /********************************************************/ |
173 | /********************************************************/ |
| 174 | /* Initialization the UART1 */ |
174 | /* Initialization the UART1 */ |
| 175 | /********************************************************/ |
175 | /********************************************************/ |
| 176 | void UART1_Init (void) |
176 | void UART1_Init (void) |
| 177 | { |
177 | { |
| 178 | GPIO_InitTypeDef GPIO_InitStructure; |
178 | GPIO_InitTypeDef GPIO_InitStructure; |
| 179 | UART_InitTypeDef UART_InitStructure; |
179 | UART_InitTypeDef UART_InitStructure; |
| 180 | 180 | ||
| 181 | // initialize txd buffer |
181 | // initialize txd buffer |
| 182 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
182 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
| 183 | 183 | ||
| 184 | // initialize rxd buffer |
184 | // initialize rxd buffer |
| 185 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
185 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
| 186 | 186 | ||
| 187 | // initialize the rx fifo |
187 | // initialize the rx fifo |
| 188 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN); |
188 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN); |
| 189 | 189 | ||
| 190 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
190 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
| 191 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
191 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
| 192 | 192 | ||
| 193 | /*Configure UART1_Rx pin GPIO3.2*/ |
193 | /*Configure UART1_Rx pin GPIO3.2*/ |
| 194 | GPIO_StructInit(&GPIO_InitStructure); |
194 | GPIO_StructInit(&GPIO_InitStructure); |
| 195 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
195 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| 196 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
196 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
| 197 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
197 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| 198 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
198 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
| 199 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
199 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
| 200 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
200 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
| 201 | 201 | ||
| 202 | /*Configure UART1_Tx pin GPIO3.3*/ |
202 | /*Configure UART1_Tx pin GPIO3.3*/ |
| 203 | GPIO_StructInit(&GPIO_InitStructure); |
203 | GPIO_StructInit(&GPIO_InitStructure); |
| 204 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
204 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| 205 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
205 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
| 206 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
206 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| 207 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
207 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
| 208 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
208 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
| 209 | 209 | ||
| 210 | /* UART1 configured as follow: |
210 | /* UART1 configured as follow: |
| 211 | - Word Length = 8 Bits |
211 | - Word Length = 8 Bits |
| 212 | - One Stop Bit |
212 | - One Stop Bit |
| 213 | - No parity |
213 | - No parity |
| 214 | - BaudRate = 57600 baud |
214 | - BaudRate = 57600 baud |
| 215 | - Hardware flow control Disabled |
215 | - Hardware flow control Disabled |
| 216 | - Receive and transmit enabled |
216 | - Receive and transmit enabled |
| 217 | - Receive and transmit FIFOs are Disabled |
217 | - Receive and transmit FIFOs are Disabled |
| 218 | */ |
218 | */ |
| 219 | UART_StructInit(&UART_InitStructure); |
219 | UART_StructInit(&UART_InitStructure); |
| 220 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
220 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
| 221 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
221 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
| 222 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
222 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
| 223 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
223 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
| 224 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
224 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
| 225 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
225 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
| 226 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
226 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
| 227 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
227 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
| 228 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
228 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
| 229 | 229 | ||
| 230 | UART_DeInit(UART1); // reset uart 1 to default |
230 | UART_DeInit(UART1); // reset uart 1 to default |
| 231 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
231 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
| 232 | // enable uart 1 interrupts selective |
232 | // enable uart 1 interrupts selective |
| 233 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
233 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
| 234 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
234 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
| 235 | // configure the uart 1 interupt line |
235 | // configure the uart 1 interupt line |
| 236 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
236 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
| 237 | // enable the uart 1 IRQ |
237 | // enable the uart 1 IRQ |
| 238 | VIC_ITCmd(UART1_ITLine, ENABLE); |
238 | VIC_ITCmd(UART1_ITLine, ENABLE); |
| 239 | 239 | ||
| 240 | // initialize the debug timer |
240 | // initialize the debug timer |
| 241 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
241 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
| 242 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
242 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
| 243 | 243 | ||
| 244 | // Fill Version Info Structure |
244 | // Fill Version Info Structure |
| 245 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
245 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
| 246 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
246 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
| 247 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
247 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
| 248 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
248 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| 249 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
249 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| 250 | 250 | ||
| 251 | NaviData.Version = NAVIDATA_VERSION; |
251 | NaviData.Version = NAVIDATA_VERSION; |
| 252 | 252 | ||
| 253 | UART1_PutString("\r\nUART1 init...ok"); |
253 | UART1_PutString("\r\nUART1 init...ok"); |
| 254 | } |
254 | } |
| 255 | 255 | ||
| 256 | 256 | ||
| 257 | /****************************************************************/ |
257 | /****************************************************************/ |
| 258 | /* USART1 receiver ISR */ |
258 | /* USART1 receiver ISR */ |
| 259 | /****************************************************************/ |
259 | /****************************************************************/ |
| 260 | void UART1_IRQHandler(void) |
260 | void UART1_IRQHandler(void) |
| 261 | { |
261 | { |
| 262 | static u8 abortState = 0; |
262 | static u8 abortState = 0; |
| 263 | u8 c; |
263 | u8 c; |
| 264 | 264 | ||
| 265 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
265 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
| 266 | { |
266 | { |
| 267 | // clear the pending bits! |
267 | // clear the pending bits! |
| 268 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
268 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
| 269 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
269 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
| 270 | // if debug UART is not UART1 |
270 | // if debug UART is not UART1 |
| 271 | if (DebugUART != UART1) |
271 | if (DebugUART != UART1) |
| 272 | { // forward received data to the debug UART tx buffer |
272 | { // forward received data to the debug UART tx buffer |
| 273 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
273 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
| 274 | { |
274 | { |
| 275 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
275 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
| 276 | c = UART_ReceiveData(UART1); |
276 | c = UART_ReceiveData(UART1); |
| 277 | 277 | ||
| 278 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
278 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
| 279 | switch (abortState) |
279 | switch (abortState) |
| 280 | { |
280 | { |
| 281 | case 0: |
281 | case 0: |
| 282 | if (c == 27) abortState++; |
282 | if (c == 27) abortState++; |
| 283 | break; |
283 | break; |
| 284 | case 1: |
284 | case 1: |
| 285 | if (c == 27) abortState++; |
285 | if (c == 27) abortState++; |
| 286 | else abortState = 0; |
286 | else abortState = 0; |
| 287 | break; |
287 | break; |
| 288 | case 2: |
288 | case 2: |
| 289 | if (c == 0x55) abortState++; |
289 | if (c == 0x55) abortState++; |
| 290 | else abortState = 0; |
290 | else abortState = 0; |
| 291 | break; |
291 | break; |
| 292 | case 3: |
292 | case 3: |
| 293 | if (c == 0xAA) abortState++; |
293 | if (c == 0xAA) abortState++; |
| 294 | else abortState = 0; |
294 | else abortState = 0; |
| 295 | break; |
295 | break; |
| 296 | case 4: |
296 | case 4: |
| 297 | if (c == 0x00) |
297 | if (c == 0x00) |
| 298 | { |
298 | { |
| 299 | if(DebugUART == UART0) |
299 | if(DebugUART == UART0) |
| 300 | { |
300 | { |
| 301 | UART0_Connect_to_MKGPS(); |
301 | UART0_Connect_to_MKGPS(); |
| 302 | TIMER2_Init(); // enbable servo outputs |
302 | TIMER2_Init(); // enbable servo outputs |
| 303 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
303 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
| 304 | } |
304 | } |
| 305 | DebugUART = UART1; |
305 | DebugUART = UART1; |
| 306 | } |
306 | } |
| 307 | abortState = 0; |
307 | abortState = 0; |
| 308 | break; |
308 | break; |
| 309 | } // end switch abort state |
309 | } // end switch abort state |
| 310 | // if the Debug uart is not UART1, redirect input to the Debug UART |
310 | // if the Debug uart is not UART1, redirect input to the Debug UART |
| 311 | if (DebugUART != UART1) |
311 | if (DebugUART != UART1) |
| 312 | { |
312 | { |
| 313 | // wait for space in the tx buffer of the DebugUART |
313 | // wait for space in the tx buffer of the DebugUART |
| 314 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
314 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
| 315 | // move byte to the tx fifo of the debug uart |
315 | // move byte to the tx fifo of the debug uart |
| 316 | UART_SendData(DebugUART, c); |
316 | UART_SendData(DebugUART, c); |
| 317 | } |
317 | } |
| 318 | } |
318 | } |
| 319 | } |
319 | } |
| 320 | else // DebugUART == UART1 (normal operation) |
320 | else // DebugUART == UART1 (normal operation) |
| 321 | { |
321 | { |
| 322 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
322 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
| 323 | { // some byes in the fifo and rxd buffer not locked |
323 | { // some byes in the hardware fifo |
| 324 | // get byte from hardware fifo |
324 | // get byte from hardware fifo |
| 325 | c = UART_ReceiveData(UART1); |
325 | c = UART_ReceiveData(UART1); |
| 326 | // put into the software fifo |
326 | // put into the software fifo |
| 327 | if(!fifo_put(&UART1_rx_fifo, c)) |
327 | if(!fifo_put(&UART1_rx_fifo, c)) |
| 328 | { // fifo overflow |
328 | { // fifo overflow |
| 329 | fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
329 | fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
| 330 | } |
330 | } |
| 331 | } // some byes in the fifo and rxd buffer not locked |
331 | } // EOF while some byes in the hardware fifo |
| - | 332 | // if rx buffer is not locked |
|
| - | 333 | if(UART1_rx_buffer.Locked == FALSE) |
|
| - | 334 | { //collect data from primary rx fifo |
|
| - | 335 | while(fifo_get(&UART1_rx_fifo, &c)) |
|
| - | 336 | { // break if complete frame is collected |
|
| - | 337 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
|
| - | 338 | } |
|
| - | 339 | } |
|
| 332 | } // eof DebugUart = UART1 |
340 | } // eof DebugUart = UART1 |
| 333 | } |
341 | } |
| 334 | } |
342 | } |
| 335 | 343 | ||
| 336 | /**************************************************************/ |
344 | /**************************************************************/ |
| 337 | /* Process incomming data from debug uart */ |
345 | /* Process incomming data from debug uart */ |
| 338 | /**************************************************************/ |
346 | /**************************************************************/ |
| 339 | void UART1_ProcessRxData(void) |
347 | void UART1_ProcessRxData(void) |
| 340 | { |
348 | { |
| 341 | u8 c; |
- | |
| 342 | - | ||
| 343 | // return on forwarding uart |
349 | // return on forwarding uart or unlocked rx buffer |
| 344 | if(DebugUART != UART1) return; |
- | |
| 345 | - | ||
| 346 | // collect data from primary rx fifo |
- | |
| 347 | while(fifo_get(&UART1_rx_fifo, &c)) |
- | |
| 348 | { // break if complete frame is collected |
- | |
| 349 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
- | |
| 350 | } |
- | |
| 351 | // if data in the rxd buffer are not locked immediately return |
- | |
| 352 | if(UART1_rx_buffer.Locked == FALSE) return; |
350 | if((DebugUART != UART1) || (UART1_rx_buffer.Locked == FALSE)) return; |
| 353 | 351 | ||
| 354 | Waypoint_t * pWaypoint = NULL; |
352 | Waypoint_t * pWaypoint = NULL; |
| 355 | SerialMsg_t SerialMsg; |
353 | SerialMsg_t SerialMsg; |
| 356 | 354 | ||
| 357 | MKProtocol_DecodeSerialFrame(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
355 | MKProtocol_DecodeSerialFrame(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
| 358 | if(*(SerialMsg.pCmdID) != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
356 | if(*(SerialMsg.pCmdID) != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
| 359 | switch(*(SerialMsg.pAddress)) // check for Slave Address |
357 | switch(*(SerialMsg.pAddress)) // check for Slave Address |
| 360 | { |
358 | { |
| 361 | case NC_ADDRESS: // own Slave Address |
359 | case NC_ADDRESS: // own Slave Address |
| 362 | switch(*(SerialMsg.pCmdID)) |
360 | switch(*(SerialMsg.pCmdID)) |
| 363 | { |
361 | { |
| 364 | case 'z': // connection checker |
362 | case 'z': // connection checker |
| 365 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
363 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
| 366 | UART1_Request_Echo = TRUE; |
364 | UART1_Request_Echo = TRUE; |
| 367 | break; |
365 | break; |
| 368 | 366 | ||
| 369 | case 'e': // request for the text of the error status |
367 | case 'e': // request for the text of the error status |
| 370 | UART1_Request_ErrorMessage = TRUE; |
368 | UART1_Request_ErrorMessage = TRUE; |
| 371 | break; |
369 | break; |
| 372 | 370 | ||
| 373 | case 's':// new target position |
371 | case 's':// new target position |
| 374 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
372 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
| 375 | BeepTime = 300; |
373 | BeepTime = 300; |
| 376 | if(pWaypoint->Position.Status == NEWDATA) |
374 | if(pWaypoint->Position.Status == NEWDATA) |
| 377 | { |
375 | { |
| 378 | WPList_Clear(); // empty WPList |
376 | WPList_Clear(); // empty WPList |
| 379 | WPList_Append(pWaypoint); |
377 | WPList_Append(pWaypoint); |
| 380 | GPS_pWaypoint = WPList_Begin(); |
378 | GPS_pWaypoint = WPList_Begin(); |
| 381 | } |
379 | } |
| 382 | break; |
380 | break; |
| 383 | 381 | ||
| 384 | case 'u': // redirect debug uart |
382 | case 'u': // redirect debug uart |
| 385 | switch(SerialMsg.pData[0]) |
383 | switch(SerialMsg.pData[0]) |
| 386 | { |
384 | { |
| 387 | case UART_FLIGHTCTRL: |
385 | case UART_FLIGHTCTRL: |
| 388 | UART2_Init(); // initialize UART2 to FC pins |
386 | UART2_Init(); // initialize UART2 to FC pins |
| 389 | fifo_purge(&UART1_rx_fifo); |
387 | fifo_purge(&UART1_rx_fifo); |
| 390 | DebugUART = UART2; |
388 | DebugUART = UART2; |
| 391 | break; |
389 | break; |
| 392 | case UART_MK3MAG: |
390 | case UART_MK3MAG: |
| 393 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
391 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
| 394 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
392 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
| 395 | GPSData.Status = INVALID; |
393 | GPSData.Status = INVALID; |
| 396 | fifo_purge(&UART1_rx_fifo); |
394 | fifo_purge(&UART1_rx_fifo); |
| 397 | DebugUART = UART0; |
395 | DebugUART = UART0; |
| 398 | break; |
396 | break; |
| 399 | case UART_MKGPS: |
397 | case UART_MKGPS: |
| 400 | 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 |
| 401 | TIMER2_Deinit(); |
399 | TIMER2_Deinit(); |
| 402 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
400 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
| 403 | GPSData.Status = INVALID; |
401 | GPSData.Status = INVALID; |
| 404 | fifo_purge(&UART1_rx_fifo); |
402 | fifo_purge(&UART1_rx_fifo); |
| 405 | DebugUART = UART0; |
403 | DebugUART = UART0; |
| 406 | break; |
404 | break; |
| 407 | default: |
405 | default: |
| 408 | break; |
406 | break; |
| 409 | } |
407 | } |
| 410 | break; |
408 | break; |
| 411 | 409 | ||
| 412 | case 'w':// Append Waypoint to List |
410 | case 'w':// Append Waypoint to List |
| 413 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
411 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
| 414 | if(pWaypoint->Position.Status == INVALID) |
412 | if(pWaypoint->Position.Status == INVALID) |
| 415 | { // clear WP List |
413 | { // clear WP List |
| 416 | WPList_Clear(); |
414 | WPList_Clear(); |
| 417 | GPS_pWaypoint = WPList_Begin(); |
415 | GPS_pWaypoint = WPList_Begin(); |
| 418 | //UART1_PutString("\r\nClear WP List\r\n"); |
416 | //UART1_PutString("\r\nClear WP List\r\n"); |
| 419 | } |
417 | } |
| 420 | else if (pWaypoint->Position.Status == NEWDATA) |
418 | else if (pWaypoint->Position.Status == NEWDATA) |
| 421 | { // app current WP to the list |
419 | { // app current WP to the list |
| 422 | WPList_Append(pWaypoint); |
420 | WPList_Append(pWaypoint); |
| 423 | BeepTime = 500; |
421 | BeepTime = 500; |
| 424 | //UART1_PutString("\r\nAdd WP to List\r\n"); |
422 | //UART1_PutString("\r\nAdd WP to List\r\n"); |
| 425 | } |
423 | } |
| 426 | UART1_Request_NewWaypoint = TRUE; |
424 | UART1_Request_NewWaypoint = TRUE; |
| 427 | break; |
425 | break; |
| 428 | 426 | ||
| 429 | case 'x':// Read Waypoint from List |
427 | case 'x':// Read Waypoint from List |
| 430 | UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
428 | UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
| 431 | break; |
429 | break; |
| 432 | 430 | ||
| 433 | default: |
431 | default: |
| 434 | // unsupported command recieved |
432 | // unsupported command recieved |
| 435 | break; |
433 | break; |
| 436 | } // case NC_ADDRESS |
434 | } // case NC_ADDRESS |
| 437 | // "break;" is missing here to fall thru to the common commands |
435 | // "break;" is missing here to fall thru to the common commands |
| 438 | 436 | ||
| 439 | default: // and any other Slave Address |
437 | default: // and any other Slave Address |
| 440 | 438 | ||
| 441 | switch(*(SerialMsg.pCmdID)) // check CmdID |
439 | switch(*(SerialMsg.pCmdID)) // check CmdID |
| 442 | { |
440 | { |
| 443 | case 'a':// request for the labels of the analog debug outputs |
441 | case 'a':// request for the labels of the analog debug outputs |
| 444 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
442 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
| 445 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
443 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
| 446 | break; |
444 | break; |
| 447 | 445 | ||
| 448 | case 'b': // submit extern control |
446 | case 'b': // submit extern control |
| 449 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
447 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
| 450 | UART1_ConfirmFrame = ExternControl.Frame; |
448 | UART1_ConfirmFrame = ExternControl.Frame; |
| 451 | break; |
449 | break; |
| 452 | 450 | ||
| 453 | case 'd': // request for debug data; |
451 | case 'd': // request for debug data; |
| 454 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
452 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
| 455 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
453 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
| 456 | break; |
454 | break; |
| 457 | 455 | ||
| 458 | case 'c': // request for 3D data; |
456 | case 'c': // request for 3D data; |
| 459 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
457 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
| 460 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
458 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
| 461 | break; |
459 | break; |
| 462 | 460 | ||
| 463 | case 'g':// request for external control data |
461 | case 'g':// request for external control data |
| 464 | UART1_Request_ExternalControl = TRUE; |
462 | UART1_Request_ExternalControl = TRUE; |
| 465 | break; |
463 | break; |
| 466 | 464 | ||
| 467 | case 'h':// reqest for display line |
465 | case 'h':// reqest for display line |
| 468 | RemoteKeys |= SerialMsg.pData[0]; |
466 | RemoteKeys |= SerialMsg.pData[0]; |
| 469 | if(RemoteKeys != 0) UART1_DisplayLine = 0; |
467 | if(RemoteKeys != 0) UART1_DisplayLine = 0; |
| 470 | UART1_Request_Display = TRUE; |
468 | UART1_Request_Display = TRUE; |
| 471 | break; |
469 | break; |
| 472 | 470 | ||
| 473 | case 'l':// reqest for display columns |
471 | case 'l':// reqest for display columns |
| 474 | MenuItem = SerialMsg.pData[0]; |
472 | MenuItem = SerialMsg.pData[0]; |
| 475 | UART1_Request_Display1 = TRUE; |
473 | UART1_Request_Display1 = TRUE; |
| 476 | break; |
474 | break; |
| 477 | 475 | ||
| 478 | case 'o': // request for navigation information |
476 | case 'o': // request for navigation information |
| 479 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
477 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
| 480 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
478 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
| 481 | break; |
479 | break; |
| 482 | 480 | ||
| 483 | case 'v': // request for version info |
481 | case 'v': // request for version info |
| 484 | UART1_Request_VersionInfo = TRUE; |
482 | UART1_Request_VersionInfo = TRUE; |
| 485 | break; |
483 | break; |
| 486 | default: |
484 | default: |
| 487 | // unsupported command recieved |
485 | // unsupported command recieved |
| 488 | break; |
486 | break; |
| 489 | } |
487 | } |
| 490 | break; // default: |
488 | break; // default: |
| 491 | } |
489 | } |
| 492 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
490 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
| 493 | } |
491 | } |
| 494 | 492 | ||
| 495 | 493 | ||
| 496 | /*****************************************************/ |
494 | /*****************************************************/ |
| 497 | /* Send a character */ |
495 | /* Send a character */ |
| 498 | /*****************************************************/ |
496 | /*****************************************************/ |
| 499 | s16 UART1_Putchar(char c) |
497 | s16 UART1_Putchar(char c) |
| 500 | { |
498 | { |
| 501 | if (c == '\n') UART1_Putchar('\r'); |
499 | if (c == '\n') UART1_Putchar('\r'); |
| 502 | // wait until txd fifo is not full |
500 | // wait until txd fifo is not full |
| 503 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
501 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
| 504 | // transmit byte |
502 | // transmit byte |
| 505 | UART_SendData(UART1, c); |
503 | UART_SendData(UART1, c); |
| 506 | return (0); |
504 | return (0); |
| 507 | } |
505 | } |
| 508 | 506 | ||
| 509 | /*****************************************************/ |
507 | /*****************************************************/ |
| 510 | /* Send a string to the debug uart */ |
508 | /* Send a string to the debug uart */ |
| 511 | /*****************************************************/ |
509 | /*****************************************************/ |
| 512 | void UART1_PutString(u8 *s) |
510 | void UART1_PutString(u8 *s) |
| 513 | { |
511 | { |
| 514 | if(s == NULL) return; |
512 | if(s == NULL) return; |
| 515 | while (*s != '\0' && DebugUART == UART1) |
513 | while (*s != '\0' && DebugUART == UART1) |
| 516 | { |
514 | { |
| 517 | UART1_Putchar(*s); |
515 | UART1_Putchar(*s); |
| 518 | s ++; |
516 | s ++; |
| 519 | } |
517 | } |
| 520 | } |
518 | } |
| 521 | 519 | ||
| 522 | 520 | ||
| 523 | /**************************************************************/ |
521 | /**************************************************************/ |
| 524 | /* Transmit tx buffer via debug uart */ |
522 | /* Transmit tx buffer via debug uart */ |
| 525 | /**************************************************************/ |
523 | /**************************************************************/ |
| 526 | void UART1_Transmit(void) |
524 | void UART1_Transmit(void) |
| 527 | { |
525 | { |
| 528 | u8 tmp_tx; |
526 | u8 tmp_tx; |
| 529 | if(DebugUART != UART1) return; |
527 | if(DebugUART != UART1) return; |
| 530 | // if something has to be send and the txd fifo is not full |
528 | // if something has to be send and the txd fifo is not full |
| 531 | if(UART1_tx_buffer.Locked == TRUE) |
529 | if(UART1_tx_buffer.Locked == TRUE) |
| 532 | { |
530 | { |
| 533 | // while there is some space in the tx fifo |
531 | // while there is some space in the tx fifo |
| 534 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
532 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
| 535 | { |
533 | { |
| 536 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
534 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
| 537 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
535 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
| 538 | // if terminating character or end of txd buffer reached |
536 | // if terminating character or end of txd buffer reached |
| 539 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
537 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
| 540 | { |
538 | { |
| 541 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
539 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
| 542 | break; // end while loop |
540 | break; // end while loop |
| 543 | } |
541 | } |
| 544 | } |
542 | } |
| 545 | } |
543 | } |
| 546 | } |
544 | } |
| 547 | 545 | ||
| 548 | /**************************************************************/ |
546 | /**************************************************************/ |
| 549 | /* Send the answers to incomming commands at the debug uart */ |
547 | /* Send the answers to incomming commands at the debug uart */ |
| 550 | /**************************************************************/ |
548 | /**************************************************************/ |
| 551 | void UART1_TransmitTxData(void) |
549 | void UART1_TransmitTxData(void) |
| 552 | { |
550 | { |
| 553 | if(DebugUART != UART1) return; |
551 | if(DebugUART != UART1) return; |
| 554 | UART1_Transmit(); // output pending bytes in tx buffer |
552 | UART1_Transmit(); // output pending bytes in tx buffer |
| 555 | if((UART1_tx_buffer.Locked == TRUE)) return; |
553 | if((UART1_tx_buffer.Locked == TRUE)) return; |
| 556 | 554 | ||
| 557 | if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
555 | if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
| 558 | { |
556 | { |
| 559 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
557 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
| 560 | Echo = 0; // reset echo value |
558 | Echo = 0; // reset echo value |
| 561 | UART1_Request_Echo = FALSE; |
559 | UART1_Request_Echo = FALSE; |
| 562 | } |
560 | } |
| - | 561 | else if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE)) |
|
| - | 562 | { |
|
| - | 563 | u8 WPNumber = WPList_GetCount(); |
|
| - | 564 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
|
| - | 565 | UART1_Request_NewWaypoint = FALSE; |
|
| - | 566 | } |
|
| - | 567 | else if((UART1_Request_ReadWaypoint != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
|
| - | 568 | { |
|
| - | 569 | u8 WPNumber = WPList_GetCount(); |
|
| - | 570 | if (UART1_Request_ReadWaypoint < WPNumber) |
|
| - | 571 | { |
|
| - | 572 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &UART1_Request_ReadWaypoint, 1, WPList_GetAt(UART1_Request_ReadWaypoint), sizeof(Waypoint_t)); |
|
| - | 573 | } |
|
| - | 574 | else |
|
| - | 575 | { |
|
| - | 576 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
|
| - | 577 | } |
|
| - | 578 | UART1_Request_ReadWaypoint = 0xFF; |
|
| - | 579 | } |
|
| - | 580 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
|
| - | 581 | { |
|
| - | 582 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
|
| - | 583 | UART1_Request_DebugLabel = 0xFF; |
|
| - | 584 | } |
|
| 563 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
585 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
| 564 | { |
586 | { |
| 565 | NaviData.Errorcode = ErrorCode; |
587 | NaviData.Errorcode = ErrorCode; |
| 566 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
588 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
| 567 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
589 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
| 568 | UART1_Request_NaviData = FALSE; |
590 | UART1_Request_NaviData = FALSE; |
| 569 | } |
591 | } |
| 570 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
592 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
| 571 | { |
593 | { |
| 572 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
594 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
| 573 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
595 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
| 574 | UART1_Request_DebugData = FALSE; |
596 | UART1_Request_DebugData = FALSE; |
| 575 | } |
597 | } |
| 576 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
598 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
| 577 | { |
599 | { |
| 578 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
600 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
| 579 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
601 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
| 580 | UART1_Request_Data3D = FALSE; |
602 | UART1_Request_Data3D = FALSE; |
| 581 | } |
603 | } |
| 582 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
- | |
| 583 | { |
- | |
| 584 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
- | |
| 585 | UART1_Request_DebugLabel = 0xFF; |
- | |
| 586 | } |
- | |
| 587 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
604 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
| 588 | { |
605 | { |
| 589 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
606 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
| 590 | UART1_ConfirmFrame = 0; |
607 | UART1_ConfirmFrame = 0; |
| 591 | } |
608 | } |
| 592 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
609 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
| 593 | { |
610 | { |
| 594 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
611 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
| 595 | UART1_Request_ExternalControl = FALSE; |
612 | UART1_Request_ExternalControl = FALSE; |
| 596 | } |
613 | } |
| 597 | else if(UART1_Request_Display && (UART1_tx_buffer.Locked == FALSE)) |
614 | else if(UART1_Request_Display && (UART1_tx_buffer.Locked == FALSE)) |
| 598 | { |
615 | { |
| 599 | LCD_PrintMenu(); |
616 | LCD_PrintMenu(); |
| 600 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&DisplayBuff[UART1_DisplayLine * 20], 20); |
617 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&DisplayBuff[UART1_DisplayLine * 20], 20); |
| 601 | UART1_DisplayLine++; |
618 | UART1_DisplayLine++; |
| 602 | if(UART1_DisplayLine >= 4) UART1_DisplayLine = 0; |
619 | if(UART1_DisplayLine >= 4) UART1_DisplayLine = 0; |
| 603 | UART1_Request_Display = FALSE; |
620 | UART1_Request_Display = FALSE; |
| 604 | } |
621 | } |
| 605 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
622 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
| 606 | { |
623 | { |
| 607 | LCD_PrintMenu(); |
624 | LCD_PrintMenu(); |
| 608 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
625 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
| 609 | UART1_Request_Display1 = FALSE; |
626 | UART1_Request_Display1 = FALSE; |
| 610 | } |
627 | } |
| 611 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
628 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
| 612 | { |
629 | { |
| 613 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
630 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
| 614 | UART1_Request_VersionInfo = FALSE; |
631 | UART1_Request_VersionInfo = FALSE; |
| 615 | } |
632 | } |
| 616 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
633 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
| 617 | { |
634 | { |
| 618 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
635 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
| 619 | UART1_Request_ErrorMessage = FALSE; |
636 | UART1_Request_ErrorMessage = FALSE; |
| 620 | } |
637 | } |
| 621 | else if(UART1_Request_SendFollowMe && (UART1_tx_buffer.Locked == FALSE) && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
638 | else if(UART1_Request_SendFollowMe && (UART1_tx_buffer.Locked == FALSE) && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
| 622 | { |
639 | { |
| 623 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
640 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
| 624 | FollowMe.Position.Status = NEWDATA; |
641 | FollowMe.Position.Status = NEWDATA; |
| 625 | FollowMe.Heading = -1; |
642 | FollowMe.Heading = -1; |
| 626 | FollowMe.ToleranceRadius = 1; |
643 | FollowMe.ToleranceRadius = 1; |
| 627 | FollowMe.HoldTime = 60; |
644 | FollowMe.HoldTime = 60; |
| 628 | FollowMe.Event_Flag = 0; |
645 | FollowMe.Event_Flag = 0; |
| 629 | FollowMe.reserve[0] = 0; // reserve |
646 | FollowMe.reserve[0] = 0; // reserve |
| 630 | FollowMe.reserve[1] = 0; // reserve |
647 | FollowMe.reserve[1] = 0; // reserve |
| 631 | FollowMe.reserve[2] = 0; // reserve |
648 | FollowMe.reserve[2] = 0; // reserve |
| 632 | FollowMe.reserve[3] = 0; // reserve |
649 | FollowMe.reserve[3] = 0; // reserve |
| 633 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
650 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
| 634 | UART1_Request_SendFollowMe = FALSE; |
651 | UART1_Request_SendFollowMe = FALSE; |
| 635 | } |
652 | } |
| 636 | else if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE)) |
- | |
| 637 | { |
- | |
| 638 | u8 WPNumber = WPList_GetCount(); |
- | |
| 639 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
- | |
| 640 | UART1_Request_NewWaypoint = FALSE; |
- | |
| 641 | } |
- | |
| 642 | else if((UART1_Request_ReadWaypoint != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
- | |
| 643 | { |
- | |
| 644 | u8 WPNumber = WPList_GetCount(); |
- | |
| 645 | if (UART1_Request_ReadWaypoint < WPNumber) |
- | |
| 646 | { |
- | |
| 647 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &UART1_Request_ReadWaypoint, 1, WPList_GetAt(UART1_Request_ReadWaypoint), sizeof(Waypoint_t)); |
- | |
| 648 | } |
- | |
| 649 | else |
- | |
| 650 | { |
- | |
| 651 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
- | |
| 652 | } |
- | |
| 653 | UART1_Request_ReadWaypoint = 0xFF; |
- | |
| 654 | } |
- | |
| 655 | UART1_Transmit(); // output pending bytes in tx buffer |
653 | UART1_Transmit(); // output pending bytes in tx buffer |
| 656 | } |
654 | } |
| 657 | 655 | ||
| 658 | 656 | ||