WebSVN - NaviCtrl - Diff - Rev 243 and 244


/*#######################################################################################*/
/* !!! 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.
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
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// +     from this software without specific prior written permission.
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#include <stdio.h>
#include <stdarg.h>
#include <string.h>
 
#include "91x_lib.h"
#include "config.h"
#include "menu.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 "compass.h"
#include "waypoints.h"
#include "mkprotocol.h"
#include "params.h"
#include "fifo.h"
 
#define FALSE   0
#define TRUE    1
 
#define ABO_TIMEOUT 4000 // disable abo after 4 seconds
u32 UART1_AboTimeOut = 0;
 
u8 UART1_Request_VersionInfo    = 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   = 0;
u8 UART1_Request_Data3D             = FALSE;
u8 UART1_Request_Echo               = FALSE;
u8 UART1_Request_ParameterId    = 0;
u8 UART1_Request_Parameter              = FALSE;
u8 UART1_DisplayKeys                    = 0;
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  200
u8 UART1_rbuffer[UART1_RX_BUFFER_LEN];
Buffer_t UART1_rx_buffer;
 
// the tx buffer
#define UART1_TX_BUFFER_LEN  200
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         ",
        "OperatingRadius ",
        "FC-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         ",
        "                ",
        "                ",
        "                ",//25
        "                ",
        "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;
Data3D_t Data3D;
u16 Echo; // 2 bytes recieved will be sent back as echo
 
u32 UART1_DebugData_Timer = 0;
u32 UART1_DebugData_Interval = 0;       // in ms
u32 UART1_NaviData_Timer = 0;
u32 UART1_NaviData_Interval = 0;        // in ms
u32 UART1_Data3D_Timer = 0;
u32 UART1_Data3D_Interval = 0;          // in ms
u32 UART1_Display_Timer = 0;
u32 UART1_Display_Interval = 0;         // in ms
 
/********************************************************/
/*            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, block UART IRQ geting a byte from fifo
        fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine);
 
        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_IPInputConnected =      GPIO_IPInputConnected_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\n UART1 init...ok");
}
 
 
/****************************************************************/
/*               USART1 receiver ISR                            */
/****************************************************************/
void UART1_IRQHandler(void)
{
        static u8 abortState = 0;
        u8 c;
 
        IENABLE;
 
        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
        }
 
        IDISABLE;
}
 
/**************************************************************/
/* 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;
 
        // analyze header first
        MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg);
        if( SerialMsg.Address == FC_ADDRESS )
        {
                switch(SerialMsg.CmdID)
                {
//                      case 'v': // version
                        case 'y': // serial poti values
                        case 'b': // extern control
                                Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC
                                Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame
                                return; //end process rx data
                        break;
                }
        }
 
        MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer
    if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250;      // reset SerialTimeout, but not in case of the "ping"
        switch(SerialMsg.Address) // check for Slave Address
        {
                case NC_ADDRESS:  // own Slave Address
                switch(SerialMsg.CmdID)
                {
                        case 'z': // connection checker
                                memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern
                                UART1_Request_Echo = TRUE;
                                break;
 
                        case 'e': // request for the text of the error status
                                UART1_Request_ErrorMessage = TRUE;
                                break;
 
                        case 's'://  new target position
                                pWaypoint = (Waypoint_t*)SerialMsg.pData;
                                BeepTime = 300;
                                if(pWaypoint->Position.Status == NEWDATA)
                                {
                                        WPList_Clear(); // empty WPList
                                        WPList_Append(pWaypoint);
                                        GPS_pWaypoint = WPList_Begin();
                                }
                                break;
 
                        case 'u': // redirect debug uart
                                switch(SerialMsg.pData[0])
                                {
                                        case UART_FLIGHTCTRL:
                                                UART2_Init();                           // initialize UART2 to FC pins
                                                fifo_purge(&UART1_rx_fifo);
                                                TIMER2_Deinit();                        // reduce irq load
                                                DebugUART = UART2;
                                                break;
                                        case UART_MK3MAG:
                                                if(FC.Flags & FCFLAG_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.Flags & FCFLAG_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
                                {
                                        pWaypoint = (Waypoint_t*)SerialMsg.pData;
                                        //sprintf(text, "\r\nI=%d, S=%d,T=%d\r\n",pWaypoint->Index, pWaypoint->Position.Status, pWaypoint->Type);
                                        //UART1_PutString(text);
 
                                        if((pWaypoint->Position.Status == INVALID) && (pWaypoint->Index == 0))
                                        {
                                                WPList_Clear();
                                                GPS_pWaypoint = WPList_Begin();
                                                UART1_Request_NewWaypoint = TRUE; // return new WP number       
                                        }
                                        else
                                        {  // app current WP to the list
                                                if (pWaypoint->Index == (WPList_GetCount() + 1))
                                                {
                                                        WPList_Append(pWaypoint);
                                                        BeepTime = 500;
                                                        UART1_Request_NewWaypoint = TRUE; // return new WP number
                                                }
                                        }
                                }
                                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.CmdID) // check CmdID
                {
                        case 'a':// request for the labels of the analog debug outputs
                                UART1_Request_DebugLabel = SerialMsg.pData[0];
                                if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31;
                                break;
                        /*
                        case 'b': // submit extern control
                                memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl));
                                UART1_ConfirmFrame = ExternControl.Frame;
                                break;
                        */
                        case 'd': // request for debug data;
                                UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10;
                                if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE;
                                UART1_AboTimeOut = SetDelay(ABO_TIMEOUT);
                                break;
 
                        case 'c': // request for 3D data;
                                UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10;
                                if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE;
                                UART1_AboTimeOut = SetDelay(ABO_TIMEOUT);
                                break;
                        /*
                        case 'g':// request for external control data
                                UART1_Request_ExternalControl = TRUE;
                                break;
                        */
                        case 'h':// reqest for display line
                                if((SerialMsg.pData[0]& 0x80) == 0x00)// old format
                                {
                                        UART1_DisplayLine = 2;
                                        UART1_Display_Interval = 0;
                                }
                                else
                                {
                                        UART1_DisplayKeys |= ~SerialMsg.pData[0];
                                        UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10;
                                        UART1_DisplayLine = 4;
                                        UART1_AboTimeOut = SetDelay(ABO_TIMEOUT);
                                }
                                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;
                                UART1_AboTimeOut = SetDelay(ABO_TIMEOUT);
                                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;
 
        if(CheckDelay(UART1_AboTimeOut))
        {
                UART1_DebugData_Interval = 0;
                UART1_NaviData_Interval = 0;
                UART1_Data3D_Interval = 0;
                UART1_Display_Interval = 0;
        }
 
        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) && (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 = 0;
        }
        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_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE))
        {
                if(UART1_DisplayLine > 3)
                {
                        Menu_Update(UART1_DisplayKeys);
                        UART1_DisplayKeys = 0;
                        MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff));
                }
                else
                {
                        UART1_DisplayLine = 2;
                        sprintf(text,"!!! incompatible !!!");
                        MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20);
                        if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0;
                }
                UART1_Display_Timer = SetDelay(UART1_Display_Interval);
                UART1_Request_Display = FALSE;
        }
        else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE))
        {
                Menu_Update(0);
                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;
        }
        UART1_Transmit(); // output pending bytes in tx buffer
}
 
 

Rev 243	Rev 244
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 "GPS.h"	64	#include "GPS.h"
65	#include "i2c.h"	65	#include "i2c.h"
66	#include "uart0.h"	66	#include "uart0.h"
67	#include "uart1.h"	67	#include "uart1.h"
68	#include "uart2.h"	68	#include "uart2.h"
69	#include "timer1.h"	69	#include "timer1.h"
70	#include "timer2.h"	70	#include "timer2.h"
71	#include "analog.h"	71	#include "analog.h"
72	#include "main.h"	72	#include "main.h"
73	#include "compass.h"	73	#include "compass.h"
74	#include "waypoints.h"	74	#include "waypoints.h"
75	#include "mkprotocol.h"	75	#include "mkprotocol.h"
76	#include "params.h"	76	#include "params.h"
77	#include "fifo.h"	77	#include "fifo.h"
78		78
79	#define FALSE 0	79	#define FALSE 0
80	#define TRUE 1	80	#define TRUE 1
81		81
82	#define ABO_TIMEOUT 4000 // disable abo after 4 seconds	82	#define ABO_TIMEOUT 4000 // disable abo after 4 seconds
83	u32 UART1_AboTimeOut = 0;	83	u32 UART1_AboTimeOut = 0;
84		84
85	u8 UART1_Request_VersionInfo = FALSE;	85	u8 UART1_Request_VersionInfo = FALSE;
86	u8 UART1_Request_ExternalControl= FALSE;	86	u8 UART1_Request_ExternalControl= FALSE;
87	u8 UART1_Request_Display = FALSE;	87	u8 UART1_Request_Display = FALSE;
88	u8 UART1_Request_Display1 = FALSE;	88	u8 UART1_Request_Display1 = FALSE;
89	u8 UART1_Request_DebugData = FALSE;	89	u8 UART1_Request_DebugData = FALSE;
90	u8 UART1_Request_DebugLabel = 255;	90	u8 UART1_Request_DebugLabel = 255;
91	u8 UART1_Request_NaviData = FALSE;	91	u8 UART1_Request_NaviData = FALSE;
92	u8 UART1_Request_ErrorMessage = FALSE;	92	u8 UART1_Request_ErrorMessage = FALSE;
93	u8 UART1_Request_NewWaypoint = FALSE;	93	u8 UART1_Request_NewWaypoint = FALSE;
94	u8 UART1_Request_ReadWaypoint = 0;	94	u8 UART1_Request_ReadWaypoint = 0;
95	u8 UART1_Request_Data3D = FALSE;	95	u8 UART1_Request_Data3D = FALSE;
96	u8 UART1_Request_Echo = FALSE;	96	u8 UART1_Request_Echo = FALSE;
97	u8 UART1_Request_ParameterId = 0;	97	u8 UART1_Request_ParameterId = 0;
98	u8 UART1_Request_Parameter = FALSE;	98	u8 UART1_Request_Parameter = FALSE;
99	u8 UART1_DisplayKeys = 0;	99	u8 UART1_DisplayKeys = 0;
100	u8 UART1_DisplayLine = 0;	100	u8 UART1_DisplayLine = 0;
101	u8 UART1_ConfirmFrame = 0;	101	u8 UART1_ConfirmFrame = 0;
102		102
103	UART_TypeDef *DebugUART = UART1;	103	UART_TypeDef *DebugUART = UART1;
104		104
105	// the primary rx fifo	105	// the primary rx fifo
106	#define UART1_RX_FIFO_LEN 1024	106	#define UART1_RX_FIFO_LEN 1024
107	u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN];	107	u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN];
108	fifo_t UART1_rx_fifo;	108	fifo_t UART1_rx_fifo;
109		109
110	// the rx buffer	110	// the rx buffer
111	#define UART1_RX_BUFFER_LEN 150	111	#define UART1_RX_BUFFER_LEN 200
112	u8 UART1_rbuffer[UART1_RX_BUFFER_LEN];	112	u8 UART1_rbuffer[UART1_RX_BUFFER_LEN];
113	Buffer_t UART1_rx_buffer;	113	Buffer_t UART1_rx_buffer;
114		114
115	// the tx buffer	115	// the tx buffer
116	#define UART1_TX_BUFFER_LEN 150	116	#define UART1_TX_BUFFER_LEN 200
117	u8 UART1_tbuffer[UART1_TX_BUFFER_LEN];	117	u8 UART1_tbuffer[UART1_TX_BUFFER_LEN];
118	Buffer_t UART1_tx_buffer;	118	Buffer_t UART1_tx_buffer;
119		119
120		120
121		121
122	volatile u8 SerialLinkOkay = 0;	122	volatile u8 SerialLinkOkay = 0;
123		123
124	u8 text[200];	124	u8 text[200];
125		125
126	const u8 ANALOG_LABEL[32][16] =	126	const u8 ANALOG_LABEL[32][16] =
127	{	127	{
128	//1234567890123456	128	//1234567890123456
129	"AngleNick ", //0	129	"AngleNick ", //0
130	"AngleRoll ",	130	"AngleRoll ",
131	"AccNick ",	131	"AccNick ",
132	"AccRoll ",	132	"AccRoll ",
133	"OperatingRadius ",	133	"OperatingRadius ",
134	"FC-Flags ", //5	134	"FC-Flags ", //5
135	"NC-Flags ",	135	"NC-Flags ",
136	"NickServo ",	136	"NickServo ",
137	"RollServo ",	137	"RollServo ",
138	"GPS Data ",	138	"GPS Data ",
139	"CompassHeading ", //10	139	"CompassHeading ", //10
140	"GyroHeading ",	140	"GyroHeading ",
141	"SPI Error ",	141	"SPI Error ",
142	"SPI Okay ",	142	"SPI Okay ",
143	"I2C Error ",	143	"I2C Error ",
144	"I2C Okay ", //15	144	"I2C Okay ", //15
145	" ",// "Kalman_K ",	145	" ",// "Kalman_K ",
146	"ACC_Speed_N ",	146	"ACC_Speed_N ",
147	"ACC_Speed_E ",	147	"ACC_Speed_E ",
148	"Speed_z ",// "GPS ACC ",	148	"Speed_z ",// "GPS ACC ",
149	" ",// "MAXDrift ", //20	149	" ",// "MAXDrift ", //20
150	"N_Speed ",	150	"N_Speed ",
151	"E_Speed ",	151	"E_Speed ",
152	" ",	152	" ",
153	" ",	153	" ",
154	" ",//25	154	" ",//25
155	" ",	155	" ",
156	"Distance N ",	156	"Distance N ",
157	"Distance E ",	157	"Distance E ",
158	"GPS_Nick ",	158	"GPS_Nick ",
159	"GPS_Roll ", //30	159	"GPS_Roll ", //30
160	"Used_Sats "	160	"Used_Sats "
161	};	161	};
162		162
163	DebugOut_t DebugOut;	163	DebugOut_t DebugOut;
164	ExternControl_t ExternControl;	164	ExternControl_t ExternControl;
165	UART_VersionInfo_t UART_VersionInfo;	165	UART_VersionInfo_t UART_VersionInfo;
166	NaviData_t NaviData;	166	NaviData_t NaviData;
167	Data3D_t Data3D;	167	Data3D_t Data3D;
168	u16 Echo; // 2 bytes recieved will be sent back as echo	168	u16 Echo; // 2 bytes recieved will be sent back as echo
169		169
170	u32 UART1_DebugData_Timer = 0;	170	u32 UART1_DebugData_Timer = 0;
171	u32 UART1_DebugData_Interval = 0; // in ms	171	u32 UART1_DebugData_Interval = 0; // in ms
172	u32 UART1_NaviData_Timer = 0;	172	u32 UART1_NaviData_Timer = 0;
173	u32 UART1_NaviData_Interval = 0; // in ms	173	u32 UART1_NaviData_Interval = 0; // in ms
174	u32 UART1_Data3D_Timer = 0;	174	u32 UART1_Data3D_Timer = 0;
175	u32 UART1_Data3D_Interval = 0; // in ms	175	u32 UART1_Data3D_Interval = 0; // in ms
176	u32 UART1_Display_Timer = 0;	176	u32 UART1_Display_Timer = 0;
177	u32 UART1_Display_Interval = 0; // in ms	177	u32 UART1_Display_Interval = 0; // in ms
178		178
179	/********************************************************/	179	/********************************************************/
180	/* Initialization the UART1 */	180	/* Initialization the UART1 */
181	/********************************************************/	181	/********************************************************/
182	void UART1_Init (void)	182	void UART1_Init (void)
183	{	183	{
184	GPIO_InitTypeDef GPIO_InitStructure;	184	GPIO_InitTypeDef GPIO_InitStructure;
185	UART_InitTypeDef UART_InitStructure;	185	UART_InitTypeDef UART_InitStructure;
186		186
187	// initialize txd buffer	187	// initialize txd buffer
188	Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN);	188	Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN);
189		189
190	// initialize rxd buffer	190	// initialize rxd buffer
191	Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN);	191	Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN);
192		192
193	// initialize the rx fifo	193	// initialize the rx fifo, block UART IRQ geting a byte from fifo
194	fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN);	194	fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine);
195		195
196	SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock	196	SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock
197	SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock	197	SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock
198		198
199	/Configure UART1_Rx pin GPIO3.2/	199	/Configure UART1_Rx pin GPIO3.2/
200	GPIO_StructInit(&GPIO_InitStructure);	200	GPIO_StructInit(&GPIO_InitStructure);
201	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;	201	GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;
202	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;	202	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
203	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;	203	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
204	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;	204	GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;
205	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD	205	GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD
206	GPIO_Init(GPIO3, &GPIO_InitStructure);	206	GPIO_Init(GPIO3, &GPIO_InitStructure);
207		207
208	/Configure UART1_Tx pin GPIO3.3/	208	/Configure UART1_Tx pin GPIO3.3/
209	GPIO_StructInit(&GPIO_InitStructure);	209	GPIO_StructInit(&GPIO_InitStructure);
210	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;	210	GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
211	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;	211	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
212	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;	212	GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;
213	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX	213	GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX
214	GPIO_Init(GPIO3, &GPIO_InitStructure);	214	GPIO_Init(GPIO3, &GPIO_InitStructure);
215		215
216	/* UART1 configured as follow:	216	/* UART1 configured as follow:
217	- Word Length = 8 Bits	217	- Word Length = 8 Bits
218	- One Stop Bit	218	- One Stop Bit
219	- No parity	219	- No parity
220	- BaudRate = 57600 baud	220	- BaudRate = 57600 baud
221	- Hardware flow control Disabled	221	- Hardware flow control Disabled
222	- Receive and transmit enabled	222	- Receive and transmit enabled
223	- Receive and transmit FIFOs are Disabled	223	- Receive and transmit FIFOs are Disabled
224	*/	224	*/
225	UART_StructInit(&UART_InitStructure);	225	UART_StructInit(&UART_InitStructure);
226	UART_InitStructure.UART_WordLength = UART_WordLength_8D;	226	UART_InitStructure.UART_WordLength = UART_WordLength_8D;
227	UART_InitStructure.UART_StopBits = UART_StopBits_1;	227	UART_InitStructure.UART_StopBits = UART_StopBits_1;
228	UART_InitStructure.UART_Parity = UART_Parity_No ;	228	UART_InitStructure.UART_Parity = UART_Parity_No ;
229	UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE;	229	UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE;
230	UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None;	230	UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None;
231	UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx;	231	UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx;
232	UART_InitStructure.UART_FIFO = UART_FIFO_Enable;	232	UART_InitStructure.UART_FIFO = UART_FIFO_Enable;
233	UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2;	233	UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2;
234	UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2;	234	UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2;
235		235
236	UART_DeInit(UART1); // reset uart 1 to default	236	UART_DeInit(UART1); // reset uart 1 to default
237	UART_Init(UART1, &UART_InitStructure); // initialize uart 1	237	UART_Init(UART1, &UART_InitStructure); // initialize uart 1
238	// enable uart 1 interrupts selective	238	// enable uart 1 interrupts selective
239	UART_ITConfig(UART1, UART_IT_Receive \| UART_IT_ReceiveTimeOut, ENABLE);	239	UART_ITConfig(UART1, UART_IT_Receive \| UART_IT_ReceiveTimeOut, ENABLE);
240	UART_Cmd(UART1, ENABLE); // enable uart 1	240	UART_Cmd(UART1, ENABLE); // enable uart 1
241	// configure the uart 1 interupt line	241	// configure the uart 1 interupt line
242	VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1);	242	VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1);
243	// enable the uart 1 IRQ	243	// enable the uart 1 IRQ
244	VIC_ITCmd(UART1_ITLine, ENABLE);	244	VIC_ITCmd(UART1_ITLine, ENABLE);
245		245
246	// initialize the debug timer	246	// initialize the debug timer
247	UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval);	247	UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval);
248	UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500;	248	UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500;
249		249
250	// Fill Version Info Structure	250	// Fill Version Info Structure
251	UART_VersionInfo.SWMajor = VERSION_MAJOR;	251	UART_VersionInfo.SWMajor = VERSION_MAJOR;
252	UART_VersionInfo.SWMinor = VERSION_MINOR;	252	UART_VersionInfo.SWMinor = VERSION_MINOR;
253	UART_VersionInfo.SWPatch = VERSION_PATCH;	253	UART_VersionInfo.SWPatch = VERSION_PATCH;
254	UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;	254	UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;
255	UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;	255	UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;
256		256
257	NaviData.Version = NAVIDATA_VERSION;	257	NaviData.Version = NAVIDATA_VERSION;
258		258
259	UART1_PutString("\r\n UART1 init...ok");	259	UART1_PutString("\r\n UART1 init...ok");
260	}	260	}
261		261
262		262
263	/****************************************************************/	263	/****************************************************************/
264	/* USART1 receiver ISR */	264	/* USART1 receiver ISR */
265	/****************************************************************/	265	/****************************************************************/
266	void UART1_IRQHandler(void)	266	void UART1_IRQHandler(void)
267	{	267	{
268	static u8 abortState = 0;	268	static u8 abortState = 0;
269	u8 c;	269	u8 c;
270		270
271	IENABLE;	271	IENABLE;
272		272
273	if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) \|\| (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) )	273	if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) \|\| (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) )
274	{	274	{
275	// clear the pending bits!	275	// clear the pending bits!
276	UART_ClearITPendingBit(UART1, UART_IT_Receive);	276	UART_ClearITPendingBit(UART1, UART_IT_Receive);
277	UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut);	277	UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut);
278	// if debug UART is not UART1	278	// if debug UART is not UART1
279	if (DebugUART != UART1)	279	if (DebugUART != UART1)
280	{ // forward received data to the debug UART tx buffer	280	{ // forward received data to the debug UART tx buffer
281	while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)	281	while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)
282	{	282	{
283	// move the byte from the rx buffer of UART1 to the tx buffer of DebugUART	283	// move the byte from the rx buffer of UART1 to the tx buffer of DebugUART
284	c = UART_ReceiveData(UART1);	284	c = UART_ReceiveData(UART1);
285		285
286	// check for abort condition (ESC ESC 0x55 0xAA 0x00)	286	// check for abort condition (ESC ESC 0x55 0xAA 0x00)
287	switch (abortState)	287	switch (abortState)
288	{	288	{
289	case 0:	289	case 0:
290	if (c == 27) abortState++;	290	if (c == 27) abortState++;
291	break;	291	break;
292	case 1:	292	case 1:
293	if (c == 27) abortState++;	293	if (c == 27) abortState++;
294	else abortState = 0;	294	else abortState = 0;
295	break;	295	break;
296	case 2:	296	case 2:
297	if (c == 0x55) abortState++;	297	if (c == 0x55) abortState++;
298	else abortState = 0;	298	else abortState = 0;
299	break;	299	break;
300	case 3:	300	case 3:
301	if (c == 0xAA) abortState++;	301	if (c == 0xAA) abortState++;
302	else abortState = 0;	302	else abortState = 0;
303	break;	303	break;
304	case 4:	304	case 4:
305	if (c == 0x00)	305	if (c == 0x00)
306	{	306	{
307	if(DebugUART == UART0)	307	if(DebugUART == UART0)
308	{	308	{
309	UART0_Connect_to_MKGPS();	309	UART0_Connect_to_MKGPS();
310	TIMER2_Init(); // enbable servo outputs	310	TIMER2_Init(); // enbable servo outputs
311	fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer	311	fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer
312	}	312	}
313	DebugUART = UART1;	313	DebugUART = UART1;
314	}	314	}
315	abortState = 0;	315	abortState = 0;
316	break;	316	break;
317	} // end switch abort state	317	} // end switch abort state
318	// if the Debug uart is not UART1, redirect input to the Debug UART	318	// if the Debug uart is not UART1, redirect input to the Debug UART
319	if (DebugUART != UART1)	319	if (DebugUART != UART1)
320	{	320	{
321	// wait for space in the tx buffer of the DebugUART	321	// wait for space in the tx buffer of the DebugUART
322	while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {};	322	while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {};
323	// move byte to the tx fifo of the debug uart	323	// move byte to the tx fifo of the debug uart
324	UART_SendData(DebugUART, c);	324	UART_SendData(DebugUART, c);
325	}	325	}
326	}	326	}
327	}	327	}
328	else // DebugUART == UART1 (normal operation)	328	else // DebugUART == UART1 (normal operation)
329	{	329	{
330	while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)	330	while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET)
331	{ // some byes in the hardware fifo	331	{ // some byes in the hardware fifo
332	// get byte from hardware fifo	332	// get byte from hardware fifo
333	c = UART_ReceiveData(UART1);	333	c = UART_ReceiveData(UART1);
334	// put into the software fifo	334	// put into the software fifo
335	if(!fifo_put(&UART1_rx_fifo, c))	335	if(!fifo_put(&UART1_rx_fifo, c))
336	{ // fifo overflow	336	{ // fifo overflow
337	//fifo_purge(&UART1_rx_fifo); // flush the whole buffer	337	//fifo_purge(&UART1_rx_fifo); // flush the whole buffer
338	}	338	}
339	} // EOF while some byes in the hardware fifo	339	} // EOF while some byes in the hardware fifo
340	} // eof DebugUart = UART1	340	} // eof DebugUart = UART1
341	}	341	}
342		342
343	IDISABLE;	343	IDISABLE;
344	}	344	}
345		345
346	/**************************************************************/	346	/**************************************************************/
347	/* Process incomming data from debug uart */	347	/* Process incomming data from debug uart */
348	/**************************************************************/	348	/**************************************************************/
349	void UART1_ProcessRxData(void)	349	void UART1_ProcessRxData(void)
350	{	350	{
351	// return on forwarding uart or unlocked rx buffer	351	// return on forwarding uart or unlocked rx buffer
352	if(DebugUART != UART1) return;	352	if(DebugUART != UART1) return;
353		353
354	u8 c;	354	u8 c;
355	// if rx buffer is not locked	355	// if rx buffer is not locked
356	if(UART1_rx_buffer.Locked == FALSE)	356	if(UART1_rx_buffer.Locked == FALSE)
-		357	{
357	{ //collect data from primary rx fifo	358	//collect data from primary rx fifo
358	while(fifo_get(&UART1_rx_fifo, &c))	359	while(fifo_get(&UART1_rx_fifo, &c))
-		360	{
359	{ // break if complete frame is collected	361	// break if complete frame is collected
360	if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break;	362	if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break;
361	}	363	}
362	}	364	}
363	if(UART1_rx_buffer.Locked == FALSE) return;	365	if(UART1_rx_buffer.Locked == FALSE) return;
364		366
365	Waypoint_t * pWaypoint = NULL;	367	Waypoint_t * pWaypoint = NULL;
366	SerialMsg_t SerialMsg;	368	SerialMsg_t SerialMsg;
367		369
368	// analyze header first	370	// analyze header first
369	MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg);	371	MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg);
370	if( SerialMsg.Address == FC_ADDRESS )	372	if( SerialMsg.Address == FC_ADDRESS )
371	{	373	{
372	switch(SerialMsg.CmdID)	374	switch(SerialMsg.CmdID)
373	{	375	{
374	// case 'v': // version	376	// case 'v': // version
375	case 'y': // serial poti values	377	case 'y': // serial poti values
376	case 'b': // extern control	378	case 'b': // extern control
377	Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC	379	Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC
378	Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame	380	Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame
379	return; //end process rx data	381	return; //end process rx data
380	break;	382	break;
381	}	383	}
382	}	384	}
383		385
384	MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer	386	MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer
385	if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping"	387	if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping"
386	switch(SerialMsg.Address) // check for Slave Address	388	switch(SerialMsg.Address) // check for Slave Address
387	{	389	{
388	case NC_ADDRESS: // own Slave Address	390	case NC_ADDRESS: // own Slave Address
389	switch(SerialMsg.CmdID)	391	switch(SerialMsg.CmdID)
390	{	392	{
391	case 'z': // connection checker	393	case 'z': // connection checker
392	memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern	394	memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern
393	UART1_Request_Echo = TRUE;	395	UART1_Request_Echo = TRUE;
394	break;	396	break;
395		397
396	case 'e': // request for the text of the error status	398	case 'e': // request for the text of the error status
397	UART1_Request_ErrorMessage = TRUE;	399	UART1_Request_ErrorMessage = TRUE;
398	break;	400	break;
399		401
400	case 's':// new target position	402	case 's':// new target position
401	pWaypoint = (Waypoint_t*)SerialMsg.pData;	403	pWaypoint = (Waypoint_t*)SerialMsg.pData;
402	BeepTime = 300;	404	BeepTime = 300;
403	if(pWaypoint->Position.Status == NEWDATA)	405	if(pWaypoint->Position.Status == NEWDATA)
404	{	406	{
405	WPList_Clear(); // empty WPList	407	WPList_Clear(); // empty WPList
406	WPList_Append(pWaypoint);	408	WPList_Append(pWaypoint);
407	GPS_pWaypoint = WPList_Begin();	409	GPS_pWaypoint = WPList_Begin();
408	}	410	}
409	break;	411	break;
410		412
411	case 'u': // redirect debug uart	413	case 'u': // redirect debug uart
412	switch(SerialMsg.pData[0])	414	switch(SerialMsg.pData[0])
413	{	415	{
414	case UART_FLIGHTCTRL:	416	case UART_FLIGHTCTRL:
415	UART2_Init(); // initialize UART2 to FC pins	417	UART2_Init(); // initialize UART2 to FC pins
416	fifo_purge(&UART1_rx_fifo);	418	fifo_purge(&UART1_rx_fifo);
417	TIMER2_Deinit(); // reduce irq load	419	TIMER2_Deinit(); // reduce irq load
418	DebugUART = UART2;	420	DebugUART = UART2;
419	break;	421	break;
420	case UART_MK3MAG:	422	case UART_MK3MAG:
421	if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running	423	if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running
422	UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins	424	UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins
423	GPSData.Status = INVALID;	425	GPSData.Status = INVALID;
424	fifo_purge(&UART1_rx_fifo);	426	fifo_purge(&UART1_rx_fifo);
425	DebugUART = UART0;	427	DebugUART = UART0;
426	break;	428	break;
427	case UART_MKGPS:	429	case UART_MKGPS:
428	if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running	430	if(FC.Flags & FCFLAG_MOTOR_RUN) break; // not if the motors are running
429	TIMER2_Deinit(); // disable servo outputs to reduce irq load	431	TIMER2_Deinit(); // disable servo outputs to reduce irq load
430	UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins	432	UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins
431	GPSData.Status = INVALID;	433	GPSData.Status = INVALID;
432	fifo_purge(&UART1_rx_fifo);	434	fifo_purge(&UART1_rx_fifo);
433	DebugUART = UART0;	435	DebugUART = UART0;
434	break;	436	break;
435	default:	437	default:
436	break;	438	break;
437	}	439	}
438	break;	440	break;
439		441
440	case 'w':// Append Waypoint to List	442	case 'w':// Append Waypoint to List
441	{	443	{
442	pWaypoint = (Waypoint_t*)SerialMsg.pData;	444	pWaypoint = (Waypoint_t*)SerialMsg.pData;
443	//sprintf(text, "\r\nI=%d, S=%d,T=%d\r\n",pWaypoint->Index, pWaypoint->Position.Status, pWaypoint->Type);	445	//sprintf(text, "\r\nI=%d, S=%d,T=%d\r\n",pWaypoint->Index, pWaypoint->Position.Status, pWaypoint->Type);
444	//UART1_PutString(text);	446	//UART1_PutString(text);
445		447
446	if((pWaypoint->Position.Status == INVALID) && (pWaypoint->Index == 0))	448	if((pWaypoint->Position.Status == INVALID) && (pWaypoint->Index == 0))
447	{	449	{
448	WPList_Clear();	450	WPList_Clear();
449	GPS_pWaypoint = WPList_Begin();	451	GPS_pWaypoint = WPList_Begin();
450	UART1_Request_NewWaypoint = TRUE; // return new WP number	452	UART1_Request_NewWaypoint = TRUE; // return new WP number
451	}	453	}
452	else	454	else
453	{ // app current WP to the list	455	{ // app current WP to the list
454	if (pWaypoint->Index == (WPList_GetCount() + 1))	456	if (pWaypoint->Index == (WPList_GetCount() + 1))
455	{	457	{
456	WPList_Append(pWaypoint);	458	WPList_Append(pWaypoint);
457	BeepTime = 500;	459	BeepTime = 500;
458	UART1_Request_NewWaypoint = TRUE; // return new WP number	460	UART1_Request_NewWaypoint = TRUE; // return new WP number
459	}	461	}
460	}	462	}
461	}	463	}
462	break;	464	break;
463		465
464	case 'x':// Read Waypoint from List	466	case 'x':// Read Waypoint from List
465	UART1_Request_ReadWaypoint = SerialMsg.pData[0];	467	UART1_Request_ReadWaypoint = SerialMsg.pData[0];
466	break;	468	break;
467		469
468	case 'j':// Set/Get NC-Parameter	470	case 'j':// Set/Get NC-Parameter
469	switch(SerialMsg.pData[0])	471	switch(SerialMsg.pData[0])
470	{	472	{
471	case 0: // get	473	case 0: // get
472	break;	474	break;
473		475
474	case 1: // set	476	case 1: // set
475	{	477	{
476	s16 value;	478	s16 value;
477	value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100;	479	value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100;
478	NCParams_SetValue(SerialMsg.pData[1], &value);	480	NCParams_SetValue(SerialMsg.pData[1], &value);
479	}	481	}
480	break;	482	break;
481		483
482	default:	484	default:
483	break;	485	break;
484	}	486	}
485	UART1_Request_ParameterId = SerialMsg.pData[1];	487	UART1_Request_ParameterId = SerialMsg.pData[1];
486	UART1_Request_Parameter = TRUE;	488	UART1_Request_Parameter = TRUE;
487	break;	489	break;
488	default:	490	default:
489	// unsupported command recieved	491	// unsupported command recieved
490	break;	492	break;
491	} // case NC_ADDRESS	493	} // case NC_ADDRESS
492	// "break;" is missing here to fall thru to the common commands	494	// "break;" is missing here to fall thru to the common commands
493		495
494	default: // and any other Slave Address	496	default: // and any other Slave Address
495		497
496	switch(SerialMsg.CmdID) // check CmdID	498	switch(SerialMsg.CmdID) // check CmdID
497	{	499	{
498	case 'a':// request for the labels of the analog debug outputs	500	case 'a':// request for the labels of the analog debug outputs

Subversion Repositories NaviCtrl

(root)/tags/V2.02a/uart1.c @ 481 - Rev 243 → 244