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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | #include <stdio.h> |
56 | #include <stdio.h> |
57 | #include <stdarg.h> |
57 | #include <stdarg.h> |
58 | #include <string.h> |
58 | #include <string.h> |
59 | 59 | ||
60 | #include "91x_lib.h" |
60 | #include "91x_lib.h" |
61 | #include "main.h" |
61 | #include "main.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 "compass.h" |
72 | #include "compass.h" |
73 | #include "waypoints.h" |
73 | #include "waypoints.h" |
74 | #include "mkprotocol.h" |
74 | #include "mkprotocol.h" |
75 | #include "params.h" |
75 | #include "params.h" |
76 | #include "fifo.h" |
76 | #include "fifo.h" |
77 | #include "debug.h" |
77 | #include "debug.h" |
78 | #include "spi_slave.h" |
78 | #include "spi_slave.h" |
79 | #include "ftphelper.h" |
79 | #include "ftphelper.h" |
80 | #include "led.h" |
80 | #include "led.h" |
81 | 81 | ||
82 | #define FALSE 0 |
82 | #define FALSE 0 |
83 | #define TRUE 1 |
83 | #define TRUE 1 |
84 | 84 | ||
85 | #define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
85 | #define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
86 | u32 UART1_AboTimeOut = 0; |
86 | u32 UART1_AboTimeOut = 0; |
87 | 87 | ||
88 | u8 UART1_Request_VersionInfo = FALSE; |
88 | u8 UART1_Request_VersionInfo = FALSE; |
89 | u8 UART1_Request_ExternalControl= FALSE; |
89 | u8 UART1_Request_ExternalControl= FALSE; |
90 | u8 UART1_Request_Display = FALSE; |
90 | u8 UART1_Request_Display = FALSE; |
91 | u8 UART1_Request_Display1 = FALSE; |
91 | u8 UART1_Request_Display1 = FALSE; |
92 | u8 UART1_Request_DebugData = FALSE; |
92 | u8 UART1_Request_DebugData = FALSE; |
93 | u8 UART1_Request_DebugLabel = 255; |
93 | u8 UART1_Request_DebugLabel = 255; |
94 | u8 UART1_Request_NaviData = FALSE; |
94 | u8 UART1_Request_NaviData = FALSE; |
95 | u8 UART1_Request_ErrorMessage = FALSE; |
95 | u8 UART1_Request_ErrorMessage = FALSE; |
96 | u8 UART1_Request_WritePoint = 0xFF; |
96 | u8 UART1_Request_WritePoint = 0xFF; |
97 | u8 UART1_Request_ReadPoint = 0; |
97 | u8 UART1_Request_ReadPoint = 0; |
98 | u8 UART1_Request_Data3D = FALSE; |
98 | u8 UART1_Request_Data3D = FALSE; |
99 | u8 UART1_Request_MotorData = FALSE; |
99 | u8 UART1_Request_MotorData = FALSE; |
100 | u8 UART1_Request_Echo = FALSE; |
100 | u8 UART1_Request_Echo = FALSE; |
101 | u8 UART1_Request_ParameterId = 0; |
101 | u8 UART1_Request_ParameterId = 0; |
102 | u8 UART1_Request_Parameter = FALSE; |
102 | u8 UART1_Request_Parameter = FALSE; |
103 | u8 UART1_DisplayKeys = 0; |
103 | u8 UART1_DisplayKeys = 0; |
104 | u8 UART1_DisplayLine = 0; |
104 | u8 UART1_DisplayLine = 0; |
105 | u8 UART1_ConfirmFrame = 0; |
105 | u8 UART1_ConfirmFrame = 0; |
106 | u8 UART1_Request_FTP = FALSE; |
106 | u8 UART1_Request_FTP = FALSE; |
107 | u8 LastTransmittedFCStatusFlags2 = 0; |
107 | u8 LastTransmittedFCStatusFlags2 = 0; |
108 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
108 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
109 | 109 | ||
110 | UART_TypeDef *DebugUART = UART1; |
110 | UART_TypeDef *DebugUART = UART1; |
111 | 111 | ||
112 | #ifdef FOLLOW_ME |
112 | #ifdef FOLLOW_ME |
113 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
113 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
114 | u32 UART1_FollowMe_Timer = 0; |
114 | u32 UART1_FollowMe_Timer = 0; |
115 | Point_t FollowMe; |
115 | Point_t FollowMe; |
116 | #endif |
116 | #endif |
117 | 117 | ||
118 | // the primary rx fifo |
118 | // the primary rx fifo |
119 | #define UART1_RX_FIFO_LEN 1024 |
119 | #define UART1_RX_FIFO_LEN 1024 |
120 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
120 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
121 | fifo_t UART1_rx_fifo; |
121 | fifo_t UART1_rx_fifo; |
122 | 122 | ||
123 | // the rx buffer |
123 | // the rx buffer |
124 | #define UART1_RX_BUFFER_LEN 1024 |
124 | #define UART1_RX_BUFFER_LEN 1024 |
125 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
125 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
126 | Buffer_t UART1_rx_buffer; |
126 | Buffer_t UART1_rx_buffer; |
127 | 127 | ||
128 | // the tx buffer |
128 | // the tx buffer |
129 | #define UART1_TX_BUFFER_LEN 1024 |
129 | #define UART1_TX_BUFFER_LEN 1024 |
130 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
130 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
131 | Buffer_t UART1_tx_buffer; |
131 | Buffer_t UART1_tx_buffer; |
132 | 132 | ||
133 | volatile u8 SerialLinkOkay = 0; |
133 | volatile u8 SerialLinkOkay = 0; |
134 | 134 | ||
135 | u8 text[200]; |
135 | u8 text[200]; |
136 | 136 | ||
137 | const u8 ANALOG_LABEL[32][16] = |
137 | const u8 ANALOG_LABEL[32][16] = |
138 | { |
138 | { |
139 | //1234567890123456 |
139 | //1234567890123456 |
140 | "AngleNick ", //0 |
140 | "AngleNick ", //0 |
141 | "AngleRoll ", |
141 | "AngleRoll ", |
142 | "AccNick ", |
142 | "AccNick ", |
143 | "AccRoll ", |
143 | "AccRoll ", |
144 | "OperatingRadius ", |
144 | "OperatingRadius ", |
145 | "FC-Flags ", //5 |
145 | "FC-Flags ", //5 |
146 | "NC-Flags ", |
146 | "NC-Flags ", |
147 | "NickServo ", |
147 | "NickServo ", |
148 | "RollServo ", |
148 | "RollServo ", |
149 | "GPS Data ", |
149 | "GPS Data ", |
150 | "CompassHeading ", //10 |
150 | "CompassHeading ", //10 |
151 | "GyroHeading ", |
151 | "GyroHeading ", |
152 | "SPI Error ", // achtung: muss auf 12 bleiben |
152 | "SPI Error ", // achtung: muss auf 12 bleiben |
153 | "SPI Okay ", |
153 | "SPI Okay ", |
154 | "I2C Error ", |
154 | "I2C Error ", |
155 | "I2C Okay ", //15 |
155 | "I2C Okay ", //15 |
156 | "16 ", |
156 | "16 ", |
157 | "17 MaxShiftSpeed", |
157 | "17 MaxShiftSpeed", |
158 | "18 shiftspeed ", |
158 | "18 shiftspeed ", |
159 | "19 Gps speed ", // SD-Card-time |
159 | "19 Gps speed ", // SD-Card-time |
160 | "EarthMagnet [%] ", //20 |
160 | "EarthMagnet [%] ", //20 |
161 | "Z_Speed ", |
161 | "Z_Speed ", |
162 | "N_Speed ", |
162 | "N_Speed ", |
163 | "E_Speed ", |
163 | "E_Speed ", |
164 | "Magnet X ", |
164 | "Magnet X ", |
165 | "Magnet Y ", //25 |
165 | "Magnet Y ", //25 |
166 | "Magnet Z ", |
166 | "Magnet Z ", |
167 | "Distance N ", |
167 | "Distance N ", |
168 | "Distance E ", |
168 | "Distance E ", |
169 | "GPS_Nick ", |
169 | "GPS_Nick ", |
170 | "GPS_Roll ", //30 |
170 | "GPS_Roll ", //30 |
171 | "Used_Sats " |
171 | "Used_Sats " |
172 | }; |
172 | }; |
173 | 173 | ||
174 | DebugOut_t DebugOut; |
174 | DebugOut_t DebugOut; |
175 | ExternControl_t ExternControl; |
175 | ExternControl_t ExternControl; |
176 | UART_VersionInfo_t UART_VersionInfo; |
176 | UART_VersionInfo_t UART_VersionInfo; |
177 | NaviData_t NaviData; |
177 | NaviData_t NaviData; |
178 | Data3D_t Data3D; |
178 | Data3D_t Data3D; |
179 | u16 Echo; // 2 bytes recieved will be sent back as echo |
179 | u16 Echo; // 2 bytes recieved will be sent back as echo |
180 | 180 | ||
181 | u32 UART1_DebugData_Timer = 0; |
181 | u32 UART1_DebugData_Timer = 0; |
182 | u32 UART1_DebugData_Interval = 0; // in ms |
182 | u32 UART1_DebugData_Interval = 0; // in ms |
183 | u32 UART1_NaviData_Timer = 0; |
183 | u32 UART1_NaviData_Timer = 0; |
184 | u32 UART1_NaviData_Interval = 0; // in ms |
184 | u32 UART1_NaviData_Interval = 0; // in ms |
185 | u32 UART1_Data3D_Timer = 0; |
185 | u32 UART1_Data3D_Timer = 0; |
186 | u32 UART1_Data3D_Interval = 0; // in ms |
186 | u32 UART1_Data3D_Interval = 0; // in ms |
187 | u32 UART1_MotorData_Timer = 0; |
187 | u32 UART1_MotorData_Timer = 0; |
188 | u32 UART1_MotorData_Interval = 0; // in ms |
188 | u32 UART1_MotorData_Interval = 0; // in ms |
189 | u32 UART1_Display_Timer = 0; |
189 | u32 UART1_Display_Timer = 0; |
190 | u32 UART1_Display_Interval = 0; // in ms |
190 | u32 UART1_Display_Interval = 0; // in ms |
191 | 191 | ||
192 | /********************************************************/ |
192 | /********************************************************/ |
193 | /* Initialization the UART1 */ |
193 | /* Initialization the UART1 */ |
194 | /********************************************************/ |
194 | /********************************************************/ |
195 | void UART1_Init (void) |
195 | void UART1_Init (void) |
196 | { |
196 | { |
197 | GPIO_InitTypeDef GPIO_InitStructure; |
197 | GPIO_InitTypeDef GPIO_InitStructure; |
198 | UART_InitTypeDef UART_InitStructure; |
198 | UART_InitTypeDef UART_InitStructure; |
199 | 199 | ||
200 | // initialize txd buffer |
200 | // initialize txd buffer |
201 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
201 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
202 | 202 | ||
203 | // initialize rxd buffer |
203 | // initialize rxd buffer |
204 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
204 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
205 | 205 | ||
206 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
206 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
207 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
207 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
208 | 208 | ||
209 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
209 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
210 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
210 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
211 | 211 | ||
212 | /*Configure UART1_Rx pin GPIO3.2*/ |
212 | /*Configure UART1_Rx pin GPIO3.2*/ |
213 | GPIO_StructInit(&GPIO_InitStructure); |
213 | GPIO_StructInit(&GPIO_InitStructure); |
214 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
214 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
215 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
215 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
216 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
216 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
217 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
217 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
218 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
218 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
219 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
219 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
220 | 220 | ||
221 | /*Configure UART1_Tx pin GPIO3.3*/ |
221 | /*Configure UART1_Tx pin GPIO3.3*/ |
222 | GPIO_StructInit(&GPIO_InitStructure); |
222 | GPIO_StructInit(&GPIO_InitStructure); |
223 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
223 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
224 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
224 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
225 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
225 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
226 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
226 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
227 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
227 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
228 | 228 | ||
229 | /* UART1 configured as follow: |
229 | /* UART1 configured as follow: |
230 | - Word Length = 8 Bits |
230 | - Word Length = 8 Bits |
231 | - One Stop Bit |
231 | - One Stop Bit |
232 | - No parity |
232 | - No parity |
233 | - BaudRate = 57600 baud |
233 | - BaudRate = 57600 baud |
234 | - Hardware flow control Disabled |
234 | - Hardware flow control Disabled |
235 | - Receive and transmit enabled |
235 | - Receive and transmit enabled |
236 | - Receive and transmit FIFOs are Disabled |
236 | - Receive and transmit FIFOs are Disabled |
237 | */ |
237 | */ |
238 | UART_StructInit(&UART_InitStructure); |
238 | UART_StructInit(&UART_InitStructure); |
239 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
239 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
240 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
240 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
241 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
241 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
242 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
242 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
243 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
243 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
244 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
244 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
245 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
245 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
246 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
246 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
247 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
247 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
248 | 248 | ||
249 | UART_DeInit(UART1); // reset uart 1 to default |
249 | UART_DeInit(UART1); // reset uart 1 to default |
250 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
250 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
251 | // enable uart 1 interrupts selective |
251 | // enable uart 1 interrupts selective |
252 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
252 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
253 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
253 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
254 | // configure the uart 1 interupt line |
254 | // configure the uart 1 interupt line |
255 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
255 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
256 | // enable the uart 1 IRQ |
256 | // enable the uart 1 IRQ |
257 | VIC_ITCmd(UART1_ITLine, ENABLE); |
257 | VIC_ITCmd(UART1_ITLine, ENABLE); |
258 | 258 | ||
259 | // initialize the debug timer |
259 | // initialize the debug timer |
260 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
260 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
261 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
261 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
262 | 262 | ||
263 | // Fill Version Info Structure |
263 | // Fill Version Info Structure |
264 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
264 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
265 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
265 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
266 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
266 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
267 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
267 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
268 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
268 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
269 | 269 | ||
270 | NaviData.Version = NAVIDATA_VERSION; |
270 | NaviData.Version = NAVIDATA_VERSION; |
271 | 271 | ||
272 | UART1_PutString("\r\n UART1 init...ok"); |
272 | UART1_PutString("\r\n UART1 init...ok"); |
273 | } |
273 | } |
274 | 274 | ||
275 | 275 | ||
276 | /****************************************************************/ |
276 | /****************************************************************/ |
277 | /* USART1 receiver ISR */ |
277 | /* USART1 receiver ISR */ |
278 | /****************************************************************/ |
278 | /****************************************************************/ |
279 | void UART1_IRQHandler(void) |
279 | void UART1_IRQHandler(void) |
280 | { |
280 | { |
281 | static u8 abortState = 0; |
281 | static u8 abortState = 0; |
282 | u8 c; |
282 | u8 c; |
283 | 283 | ||
284 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
284 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
285 | { |
285 | { |
286 | // clear the pending bits! |
286 | // clear the pending bits! |
287 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
287 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
288 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
288 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
289 | // if debug UART is not UART1 |
289 | // if debug UART is not UART1 |
290 | if (DebugUART != UART1) |
290 | if (DebugUART != UART1) |
291 | { // forward received data to the debug UART tx buffer |
291 | { // forward received data to the debug UART tx buffer |
292 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
292 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
293 | { |
293 | { |
294 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
294 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
295 | c = UART_ReceiveData(UART1); |
295 | c = UART_ReceiveData(UART1); |
296 | 296 | ||
297 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
297 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
298 | switch (abortState) |
298 | switch (abortState) |
299 | { |
299 | { |
300 | case 0: |
300 | case 0: |
301 | if (c == 27) abortState++; |
301 | if (c == 27) abortState++; |
302 | break; |
302 | break; |
303 | case 1: |
303 | case 1: |
304 | if (c == 27) abortState++; |
304 | if (c == 27) abortState++; |
305 | else abortState = 0; |
305 | else abortState = 0; |
306 | break; |
306 | break; |
307 | case 2: |
307 | case 2: |
308 | if (c == 0x55) abortState++; |
308 | if (c == 0x55) abortState++; |
309 | else abortState = 0; |
309 | else abortState = 0; |
310 | break; |
310 | break; |
311 | case 3: |
311 | case 3: |
312 | if (c == 0xAA) abortState++; |
312 | if (c == 0xAA) abortState++; |
313 | else abortState = 0; |
313 | else abortState = 0; |
314 | break; |
314 | break; |
315 | case 4: |
315 | case 4: |
316 | if (c == 0x00) |
316 | if (c == 0x00) |
317 | { |
317 | { |
318 | if(DebugUART == UART0) |
318 | if(DebugUART == UART0) |
319 | { |
319 | { |
320 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
320 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
321 | TIMER2_Init(); // enbable servo outputs |
321 | TIMER2_Init(); // enbable servo outputs |
322 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
322 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
323 | } |
323 | } |
324 | DebugUART = UART1; |
324 | DebugUART = UART1; |
325 | } |
325 | } |
326 | abortState = 0; |
326 | abortState = 0; |
327 | break; |
327 | break; |
328 | } // end switch abort state |
328 | } // end switch abort state |
329 | // if the Debug uart is not UART1, redirect input to the Debug UART |
329 | // if the Debug uart is not UART1, redirect input to the Debug UART |
330 | if (DebugUART != UART1) |
330 | if (DebugUART != UART1) |
331 | { |
331 | { |
332 | // wait for space in the tx buffer of the DebugUART |
332 | // wait for space in the tx buffer of the DebugUART |
333 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
333 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
334 | // move byte to the tx fifo of the debug uart |
334 | // move byte to the tx fifo of the debug uart |
335 | UART_SendData(DebugUART, c); |
335 | UART_SendData(DebugUART, c); |
336 | } |
336 | } |
337 | } |
337 | } |
338 | } |
338 | } |
339 | else // DebugUART == UART1 (normal operation) |
339 | else // DebugUART == UART1 (normal operation) |
340 | { |
340 | { |
341 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
341 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
342 | { // some byes in the hardware fifo |
342 | { // some byes in the hardware fifo |
343 | // get byte from hardware fifo |
343 | // get byte from hardware fifo |
344 | c = UART_ReceiveData(UART1); |
344 | c = UART_ReceiveData(UART1); |
345 | // put into the software fifo |
345 | // put into the software fifo |
346 | if(!fifo_put(&UART1_rx_fifo, c)) |
346 | if(!fifo_put(&UART1_rx_fifo, c)) |
347 | { // fifo overflow |
347 | { // fifo overflow |
348 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
348 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
349 | } |
349 | } |
350 | } // EOF while some byes in the hardware fifo |
350 | } // EOF while some byes in the hardware fifo |
351 | } // eof DebugUart = UART1 |
351 | } // eof DebugUart = UART1 |
352 | } |
352 | } |
353 | 353 | ||
354 | 354 | ||
355 | 355 | ||
356 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
356 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
357 | } |
357 | } |
358 | 358 | ||
359 | /**************************************************************/ |
359 | /**************************************************************/ |
360 | /* Process incomming data from debug uart */ |
360 | /* Process incomming data from debug uart */ |
361 | /**************************************************************/ |
361 | /**************************************************************/ |
362 | void UART1_ProcessRxData(void) |
362 | void UART1_ProcessRxData(void) |
363 | { |
363 | { |
364 | // return on forwarding uart or unlocked rx buffer |
364 | // return on forwarding uart or unlocked rx buffer |
365 | u8 c; |
365 | u8 c; |
366 | if(DebugUART != UART1) return; |
366 | if(DebugUART != UART1) return; |
367 | // if rx buffer is not locked |
367 | // if rx buffer is not locked |
368 | if(UART1_rx_buffer.Locked == FALSE) |
368 | if(UART1_rx_buffer.Locked == FALSE) |
369 | { |
369 | { |
370 | //collect data from primary rx fifo |
370 | //collect data from primary rx fifo |
371 | while(fifo_get(&UART1_rx_fifo, &c)) |
371 | while(fifo_get(&UART1_rx_fifo, &c)) |
372 | { |
372 | { |
373 | // break if complete frame is collected |
373 | // break if complete frame is collected |
374 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
374 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
375 | } |
375 | } |
376 | } |
376 | } |
377 | if(UART1_rx_buffer.Locked == FALSE) return; |
377 | if(UART1_rx_buffer.Locked == FALSE) return; |
378 | 378 | ||
379 | Point_t * pPoint = NULL; |
379 | Point_t * pPoint = NULL; |
380 | SerialMsg_t SerialMsg; |
380 | SerialMsg_t SerialMsg; |
381 | 381 | ||
382 | // analyze header first |
382 | // analyze header first |
383 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
383 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
384 | if( SerialMsg.Address == FC_ADDRESS ) |
384 | if( SerialMsg.Address == FC_ADDRESS ) |
385 | { |
385 | { |
386 | switch(SerialMsg.CmdID) |
386 | switch(SerialMsg.CmdID) |
387 | { |
387 | { |
388 | // case 'v': // version |
388 | // case 'v': // version |
389 | case 'b': // extern control |
389 | case 'b': // extern control |
390 | UART1_ExternalControlConfirmFrame = 1; |
390 | UART1_ExternalControlConfirmFrame = 1; |
391 | case 'y': // serial poti values |
391 | case 'y': // serial poti values |
392 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
392 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
393 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
393 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
394 | return; //end process rx data |
394 | return; //end process rx data |
395 | break; |
395 | break; |
396 | } |
396 | } |
397 | } |
397 | } |
398 | 398 | ||
399 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
399 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
400 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
400 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
401 | switch(SerialMsg.Address) // check for Slave Address |
401 | switch(SerialMsg.Address) // check for Slave Address |
402 | { |
402 | { |
403 | case NC_ADDRESS: // own Slave Address |
403 | case NC_ADDRESS: // own Slave Address |
404 | switch(SerialMsg.CmdID) |
404 | switch(SerialMsg.CmdID) |
405 | { |
405 | { |
406 | 406 | ||
407 | case 'f': // ftp command |
407 | case 'f': // ftp command |
- | 408 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
|
408 | UART1_Request_FTP = SerialMsg.pData[0]; |
409 | UART1_Request_FTP = SerialMsg.pData[0]; |
409 | - | ||
410 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
410 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
411 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
411 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
412 | break; |
412 | break; |
413 | 413 | ||
414 | case 'z': // connection checker |
414 | case 'z': // connection checker |
415 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
415 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
416 | UART1_Request_Echo = TRUE; |
416 | UART1_Request_Echo = TRUE; |
417 | break; |
417 | break; |
418 | 418 | ||
419 | case 'e': // request for the text of the error status |
419 | case 'e': // request for the text of the error status |
420 | UART1_Request_ErrorMessage = TRUE; |
420 | UART1_Request_ErrorMessage = TRUE; |
421 | break; |
421 | break; |
422 | 422 | ||
423 | case 's':// new target position |
423 | case 's':// new target position |
424 | pPoint = (Point_t*)SerialMsg.pData; |
424 | pPoint = (Point_t*)SerialMsg.pData; |
425 | if(pPoint->Position.Status == NEWDATA) |
425 | if(pPoint->Position.Status == NEWDATA) |
426 | { |
426 | { |
427 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
427 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
428 | //pPoint->Index = 1; // must be one after empty list |
428 | //pPoint->Index = 1; // must be one after empty list |
429 | PointList_SetAt(pPoint); |
429 | PointList_SetAt(pPoint); |
430 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
430 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
431 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
431 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
432 | if(GPS_pWaypoint != NULL) // if new WP exist |
432 | if(GPS_pWaypoint != NULL) // if new WP exist |
433 | { // update WP hold time stamp immediately! |
433 | { // update WP hold time stamp immediately! |
434 | /* if(GPS_pWaypoint->Heading > 0 && GPS_pWaypoint->Heading <= 360) |
434 | /* if(GPS_pWaypoint->Heading > 0 && GPS_pWaypoint->Heading <= 360) |
435 | { |
435 | { |
436 | CAM_Orientation.Azimuth = GPS_pWaypoint->Heading; |
436 | CAM_Orientation.Azimuth = GPS_pWaypoint->Heading; |
437 | CAM_Orientation.UpdateMask |= CAM_UPDATE_AZIMUTH; |
437 | CAM_Orientation.UpdateMask |= CAM_UPDATE_AZIMUTH; |
438 | } |
438 | } |
439 | */ |
439 | */ |
440 | } |
440 | } |
441 | BeepTime = 50; |
441 | BeepTime = 50; |
442 | } |
442 | } |
443 | break; |
443 | break; |
444 | 444 | ||
445 | case 'u': // redirect debug uart |
445 | case 'u': // redirect debug uart |
446 | switch(SerialMsg.pData[0]) |
446 | switch(SerialMsg.pData[0]) |
447 | { |
447 | { |
448 | case UART_FLIGHTCTRL: |
448 | case UART_FLIGHTCTRL: |
449 | UART2_Init(); // initialize UART2 to FC pins |
449 | UART2_Init(); // initialize UART2 to FC pins |
450 | fifo_purge(&UART1_rx_fifo); |
450 | fifo_purge(&UART1_rx_fifo); |
451 | TIMER2_Deinit(); // reduce irq load |
451 | TIMER2_Deinit(); // reduce irq load |
452 | DebugUART = UART2; |
452 | DebugUART = UART2; |
453 | break; |
453 | break; |
454 | case UART_MK3MAG: |
454 | case UART_MK3MAG: |
455 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
455 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
456 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
456 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
457 | GPSData.Status = INVALID; |
457 | GPSData.Status = INVALID; |
458 | fifo_purge(&UART1_rx_fifo); |
458 | fifo_purge(&UART1_rx_fifo); |
459 | DebugUART = UART0; |
459 | DebugUART = UART0; |
460 | break; |
460 | break; |
461 | case UART_MKGPS: |
461 | case UART_MKGPS: |
462 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
462 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
463 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
463 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
464 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
464 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
465 | GPSData.Status = INVALID; |
465 | GPSData.Status = INVALID; |
466 | fifo_purge(&UART1_rx_fifo); |
466 | fifo_purge(&UART1_rx_fifo); |
467 | DebugUART = UART0; |
467 | DebugUART = UART0; |
468 | break; |
468 | break; |
469 | default: |
469 | default: |
470 | break; |
470 | break; |
471 | } |
471 | } |
472 | break; |
472 | break; |
473 | 473 | ||
474 | case 'w':// Set point in list at index |
474 | case 'w':// Set point in list at index |
475 | { |
475 | { |
476 | pPoint = (Point_t*)SerialMsg.pData; |
476 | pPoint = (Point_t*)SerialMsg.pData; |
477 | 477 | ||
478 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
478 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
479 | { |
479 | { |
480 | PointList_Clear(); |
480 | PointList_Clear(); |
481 | GPS_pWaypoint = PointList_WPBegin(); |
481 | GPS_pWaypoint = PointList_WPBegin(); |
482 | UART1_Request_WritePoint = 0; // return new point count |
482 | UART1_Request_WritePoint = 0; // return new point count |
483 | } |
483 | } |
484 | else |
484 | else |
485 | { // update WP in list at index |
485 | { // update WP in list at index |
486 | if(pPoint->Index > MaxNumberOfWaypoints) |
486 | if(pPoint->Index > MaxNumberOfWaypoints) |
487 | { |
487 | { |
488 | UART1_Request_WritePoint = 254; |
488 | UART1_Request_WritePoint = 254; |
489 | pPoint->Index = MaxNumberOfWaypoints; |
489 | pPoint->Index = MaxNumberOfWaypoints; |
490 | } |
490 | } |
491 | else |
491 | else |
492 | UART1_Request_WritePoint = PointList_SetAt(pPoint); |
492 | UART1_Request_WritePoint = PointList_SetAt(pPoint); |
493 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
493 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
494 | if(UART1_Request_WritePoint == pPoint->Index) |
494 | if(UART1_Request_WritePoint == pPoint->Index) |
495 | { |
495 | { |
496 | BeepTime = 500; |
496 | BeepTime = 500; |
497 | } |
497 | } |
498 | } |
498 | } |
499 | } |
499 | } |
500 | break; |
500 | break; |
501 | 501 | ||
502 | case 'x':// Read Waypoint from List |
502 | case 'x':// Read Waypoint from List |
503 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
503 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
504 | break; |
504 | break; |
505 | 505 | ||
506 | case 'j':// Set/Get NC-Parameter |
506 | case 'j':// Set/Get NC-Parameter |
507 | switch(SerialMsg.pData[0]) |
507 | switch(SerialMsg.pData[0]) |
508 | { |
508 | { |
509 | case 0: // get |
509 | case 0: // get |
510 | break; |
510 | break; |
511 | 511 | ||
512 | case 1: // set |
512 | case 1: // set |
513 | { |
513 | { |
514 | s16 value; |
514 | s16 value; |
515 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
515 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
516 | NCParams_SetValue(SerialMsg.pData[1], &value); |
516 | NCParams_SetValue(SerialMsg.pData[1], &value); |
517 | } |
517 | } |
518 | break; |
518 | break; |
519 | 519 | ||
520 | default: |
520 | default: |
521 | break; |
521 | break; |
522 | } |
522 | } |
523 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
523 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
524 | UART1_Request_Parameter = TRUE; |
524 | UART1_Request_Parameter = TRUE; |
525 | break; |
525 | break; |
526 | default: |
526 | default: |
527 | // unsupported command recieved |
527 | // unsupported command recieved |
528 | break; |
528 | break; |
529 | } // case NC_ADDRESS |
529 | } // case NC_ADDRESS |
530 | // "break;" is missing here to fall thru to the common commands |
530 | // "break;" is missing here to fall thru to the common commands |
531 | 531 | ||
532 | default: // and any other Slave Address |
532 | default: // and any other Slave Address |
533 | 533 | ||
534 | switch(SerialMsg.CmdID) // check CmdID |
534 | switch(SerialMsg.CmdID) // check CmdID |
535 | { |
535 | { |
536 | case 'a':// request for the labels of the analog debug outputs |
536 | case 'a':// request for the labels of the analog debug outputs |
537 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
537 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
538 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
538 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
539 | break; |
539 | break; |
540 | /* |
540 | /* |
541 | case 'b': // submit extern control |
541 | case 'b': // submit extern control |
542 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
542 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
543 | UART1_ConfirmFrame = ExternControl.Frame; |
543 | UART1_ConfirmFrame = ExternControl.Frame; |
544 | break; |
544 | break; |
545 | */ |
545 | */ |
546 | case 'd': // request for debug data; |
546 | case 'd': // request for debug data; |
547 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
547 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
548 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
548 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
549 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
549 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
550 | break; |
550 | break; |
551 | 551 | ||
552 | case 'c': // request for 3D data; |
552 | case 'c': // request for 3D data; |
553 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
553 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
554 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
554 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
555 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
555 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
556 | break; |
556 | break; |
557 | 557 | ||
558 | case 'k': // request for Motor data; |
558 | case 'k': // request for Motor data; |
559 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
559 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
560 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
560 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
561 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
561 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
562 | break; |
562 | break; |
563 | 563 | ||
564 | case 'h':// reqest for display line |
564 | case 'h':// reqest for display line |
565 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
565 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
566 | { |
566 | { |
567 | UART1_DisplayLine = 2; |
567 | UART1_DisplayLine = 2; |
568 | UART1_Display_Interval = 0; |
568 | UART1_Display_Interval = 0; |
569 | } |
569 | } |
570 | else |
570 | else |
571 | { |
571 | { |
572 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
572 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
573 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
573 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
574 | UART1_DisplayLine = 4; |
574 | UART1_DisplayLine = 4; |
575 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
575 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
576 | } |
576 | } |
577 | UART1_Request_Display = TRUE; |
577 | UART1_Request_Display = TRUE; |
578 | break; |
578 | break; |
579 | 579 | ||
580 | case 'l':// reqest for display columns |
580 | case 'l':// reqest for display columns |
581 | MenuItem = SerialMsg.pData[0]; |
581 | MenuItem = SerialMsg.pData[0]; |
582 | UART1_Request_Display1 = TRUE; |
582 | UART1_Request_Display1 = TRUE; |
583 | break; |
583 | break; |
584 | 584 | ||
585 | case 'o': // request for navigation information |
585 | case 'o': // request for navigation information |
586 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
586 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
587 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
587 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
588 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
588 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
589 | break; |
589 | break; |
590 | 590 | ||
591 | case 'v': // request for version info |
591 | case 'v': // request for version info |
592 | UART1_Request_VersionInfo = TRUE; |
592 | UART1_Request_VersionInfo = TRUE; |
593 | break; |
593 | break; |
594 | default: |
594 | default: |
595 | // unsupported command recieved |
595 | // unsupported command recieved |
596 | break; |
596 | break; |
597 | } |
597 | } |
598 | break; // default: |
598 | break; // default: |
599 | } |
599 | } |
600 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
600 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
601 | } |
601 | } |
602 | 602 | ||
603 | 603 | ||
604 | /*****************************************************/ |
604 | /*****************************************************/ |
605 | /* Send a character */ |
605 | /* Send a character */ |
606 | /*****************************************************/ |
606 | /*****************************************************/ |
607 | s16 UART1_Putchar(char c) |
607 | s16 UART1_Putchar(char c) |
608 | { |
608 | { |
609 | u32 timeout = 10000; |
609 | u32 timeout = 10000; |
610 | if (c == '\n') UART1_Putchar('\r'); |
610 | if (c == '\n') UART1_Putchar('\r'); |
611 | // wait until txd fifo is not full |
611 | // wait until txd fifo is not full |
612 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
612 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
613 | // transmit byte |
613 | // transmit byte |
614 | UART_SendData(UART1, c); |
614 | UART_SendData(UART1, c); |
615 | #ifdef FOLLOW_ME |
615 | #ifdef FOLLOW_ME |
616 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
616 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
617 | #endif |
617 | #endif |
618 | return (0); |
618 | return (0); |
619 | } |
619 | } |
620 | 620 | ||
621 | /*****************************************************/ |
621 | /*****************************************************/ |
622 | /* Send a string to the debug uart */ |
622 | /* Send a string to the debug uart */ |
623 | /*****************************************************/ |
623 | /*****************************************************/ |
624 | void UART1_PutString(u8 *s) |
624 | void UART1_PutString(u8 *s) |
625 | { |
625 | { |
626 | if(s == NULL) return; |
626 | if(s == NULL) return; |
627 | while (*s != '\0' && DebugUART == UART1) |
627 | while (*s != '\0' && DebugUART == UART1) |
628 | { |
628 | { |
629 | UART1_Putchar(*s); |
629 | UART1_Putchar(*s); |
630 | s ++; |
630 | s ++; |
631 | } |
631 | } |
632 | } |
632 | } |
633 | 633 | ||
634 | 634 | ||
635 | /**************************************************************/ |
635 | /**************************************************************/ |
636 | /* Transmit tx buffer via debug uart */ |
636 | /* Transmit tx buffer via debug uart */ |
637 | /**************************************************************/ |
637 | /**************************************************************/ |
638 | void UART1_Transmit(void) |
638 | void UART1_Transmit(void) |
639 | { |
639 | { |
640 | u8 tmp_tx; |
640 | u8 tmp_tx; |
641 | if(DebugUART != UART1) return; |
641 | if(DebugUART != UART1) return; |
642 | // if something has to be send and the txd fifo is not full |
642 | // if something has to be send and the txd fifo is not full |
643 | if(UART1_tx_buffer.Locked == TRUE) |
643 | if(UART1_tx_buffer.Locked == TRUE) |
644 | { |
644 | { |
645 | // while there is some space in the tx fifo |
645 | // while there is some space in the tx fifo |
646 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
646 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
647 | { |
647 | { |
648 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
648 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
649 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
649 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
650 | #ifdef FOLLOW_ME |
650 | #ifdef FOLLOW_ME |
651 | if(TransmitAlsoToFC) |
651 | if(TransmitAlsoToFC) |
652 | { |
652 | { |
653 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
653 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
654 | } |
654 | } |
655 | #endif |
655 | #endif |
656 | // if terminating character or end of txd buffer reached |
656 | // if terminating character or end of txd buffer reached |
657 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
657 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
658 | { |
658 | { |
659 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
659 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
660 | #ifdef FOLLOW_ME |
660 | #ifdef FOLLOW_ME |
661 | TransmitAlsoToFC = 0; |
661 | TransmitAlsoToFC = 0; |
662 | #endif |
662 | #endif |
663 | break; // end while loop |
663 | break; // end while loop |
664 | } |
664 | } |
665 | } |
665 | } |
666 | } |
666 | } |
667 | } |
667 | } |
668 | 668 | ||
669 | 669 | ||
670 | /**************************************************************/ |
670 | /**************************************************************/ |
671 | /* Send the answers to incomming commands at the debug uart */ |
671 | /* Send the answers to incomming commands at the debug uart */ |
672 | /**************************************************************/ |
672 | /**************************************************************/ |
673 | void UART1_TransmitTxData(void) |
673 | void UART1_TransmitTxData(void) |
674 | { |
674 | { |
675 | static u8 motorindex1 = 255, motorindex2 = 0; |
675 | static u8 motorindex1 = 255, motorindex2 = 0; |
676 | if(DebugUART != UART1) return; |
676 | if(DebugUART != UART1) return; |
677 | 677 | ||
678 | if(CheckDelay(UART1_AboTimeOut)) |
678 | if(CheckDelay(UART1_AboTimeOut)) |
679 | { |
679 | { |
680 | UART1_DebugData_Interval = 0; |
680 | UART1_DebugData_Interval = 0; |
681 | UART1_NaviData_Interval = 0; |
681 | UART1_NaviData_Interval = 0; |
682 | UART1_Data3D_Interval = 0; |
682 | UART1_Data3D_Interval = 0; |
683 | UART1_Display_Interval = 0; |
683 | UART1_Display_Interval = 0; |
684 | UART1_MotorData_Interval = 0; |
684 | UART1_MotorData_Interval = 0; |
685 | } |
685 | } |
686 | 686 | ||
687 | UART1_Transmit(); // output pending bytes in tx buffer |
687 | UART1_Transmit(); // output pending bytes in tx buffer |
688 | if((UART1_tx_buffer.Locked == TRUE)) return; |
688 | if((UART1_tx_buffer.Locked == TRUE)) return; |
689 | 689 | ||
690 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
690 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
691 | { |
691 | { |
692 | s16 ParamValue; |
692 | s16 ParamValue; |
693 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
693 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
694 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
694 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
695 | UART1_Request_Parameter = FALSE; |
695 | UART1_Request_Parameter = FALSE; |
696 | } |
696 | } |
697 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
697 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
698 | { |
698 | { |
699 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
699 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
700 | Echo = 0; // reset echo value |
700 | Echo = 0; // reset echo value |
701 | UART1_Request_Echo = FALSE; |
701 | UART1_Request_Echo = FALSE; |
702 | } |
702 | } |
703 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
703 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
704 | { |
704 | { |
705 | CheckFTPCommand(UART1_Request_FTP); |
705 | CheckFTPCommand(UART1_Request_FTP); |
706 | UART1_Request_FTP = FALSE; |
706 | UART1_Request_FTP = FALSE; |
707 | } |
707 | } |
708 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
708 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
709 | { |
709 | { |
710 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
710 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
711 | UART1_Request_WritePoint = 0xFF; |
711 | UART1_Request_WritePoint = 0xFF; |
712 | } |
712 | } |
713 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
713 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
714 | { |
714 | { |
715 | u8 PointCount = PointList_GetCount(); |
715 | u8 PointCount = PointList_GetCount(); |
716 | if (UART1_Request_ReadPoint <= PointCount) |
716 | if (UART1_Request_ReadPoint <= PointCount) |
717 | { |
717 | { |
718 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
718 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
719 | } |
719 | } |
720 | else |
720 | else |
721 | { |
721 | { |
722 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
722 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
723 | } |
723 | } |
724 | UART1_Request_ReadPoint = 0; |
724 | UART1_Request_ReadPoint = 0; |
725 | } |
725 | } |
726 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
726 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
727 | { |
727 | { |
728 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
728 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
729 | UART1_Request_DebugLabel = 0xFF; |
729 | UART1_Request_DebugLabel = 0xFF; |
730 | } |
730 | } |
731 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
731 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
732 | { |
732 | { |
733 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
733 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
734 | UART1_ExternalControlConfirmFrame = 0; |
734 | UART1_ExternalControlConfirmFrame = 0; |
735 | } |
735 | } |
736 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
736 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
737 | { |
737 | { |
738 | NaviData.Errorcode = ErrorCode; |
738 | NaviData.Errorcode = ErrorCode; |
739 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
739 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
740 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
740 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
741 | UART1_Request_NaviData = FALSE; |
741 | UART1_Request_NaviData = FALSE; |
742 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
742 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
743 | } |
743 | } |
744 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
744 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
745 | { |
745 | { |
746 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
746 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
747 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
747 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
748 | UART1_Request_DebugData = FALSE; |
748 | UART1_Request_DebugData = FALSE; |
749 | } |
749 | } |
750 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
750 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
751 | { |
751 | { |
752 | Data3D.StickNick = FC.StickNick; |
752 | Data3D.StickNick = FC.StickNick; |
753 | Data3D.StickRoll = FC.StickRoll; |
753 | Data3D.StickRoll = FC.StickRoll; |
754 | Data3D.StickYaw = FC.StickYaw; |
754 | Data3D.StickYaw = FC.StickYaw; |
755 | Data3D.StickGas = FC.StickGas; |
755 | Data3D.StickGas = FC.StickGas; |
756 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
756 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
757 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
757 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
758 | UART1_Request_Data3D = FALSE; |
758 | UART1_Request_Data3D = FALSE; |
759 | } |
759 | } |
760 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
760 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
761 | { |
761 | { |
762 | do |
762 | do |
763 | { |
763 | { |
764 | motorindex1++; |
764 | motorindex1++; |
765 | motorindex1%=12; |
765 | motorindex1%=12; |
766 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
766 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
767 | if(motorindex1 == motorindex2) break; |
767 | if(motorindex1 == motorindex2) break; |
768 | } |
768 | } |
769 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
769 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
770 | 770 | ||
771 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
771 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
772 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
772 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
773 | UART1_Request_MotorData = FALSE; |
773 | UART1_Request_MotorData = FALSE; |
774 | } |
774 | } |
775 | /* |
775 | /* |
776 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
776 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
777 | { |
777 | { |
778 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
778 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
779 | UART1_ConfirmFrame = 0; |
779 | UART1_ConfirmFrame = 0; |
780 | } |
780 | } |
781 | */ |
781 | */ |
782 | /* |
782 | /* |
783 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
783 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
784 | { |
784 | { |
785 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
785 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
786 | UART1_Request_ExternalControl = FALSE; |
786 | UART1_Request_ExternalControl = FALSE; |
787 | } |
787 | } |
788 | */ |
788 | */ |
789 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
789 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
790 | { |
790 | { |
791 | if(UART1_DisplayLine > 3) |
791 | if(UART1_DisplayLine > 3) |
792 | { |
792 | { |
793 | Menu_Update(UART1_DisplayKeys); |
793 | Menu_Update(UART1_DisplayKeys); |
794 | UART1_DisplayKeys = 0; |
794 | UART1_DisplayKeys = 0; |
795 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
795 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
796 | } |
796 | } |
797 | else |
797 | else |
798 | { |
798 | { |
799 | UART1_DisplayLine = 2; |
799 | UART1_DisplayLine = 2; |
800 | sprintf(text,"!!! incompatible !!!"); |
800 | sprintf(text,"!!! incompatible !!!"); |
801 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
801 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
802 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
802 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
803 | } |
803 | } |
804 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
804 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
805 | UART1_Request_Display = FALSE; |
805 | UART1_Request_Display = FALSE; |
806 | } |
806 | } |
807 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
807 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
808 | { |
808 | { |
809 | Menu_Update(0); |
809 | Menu_Update(0); |
810 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
810 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
811 | UART1_Request_Display1 = FALSE; |
811 | UART1_Request_Display1 = FALSE; |
812 | } |
812 | } |
813 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
813 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
814 | { |
814 | { |
815 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
815 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
816 | UART1_Request_VersionInfo = FALSE; |
816 | UART1_Request_VersionInfo = FALSE; |
817 | } |
817 | } |
818 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
818 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
819 | { |
819 | { |
820 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
820 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
821 | UART1_Request_ErrorMessage = FALSE; |
821 | UART1_Request_ErrorMessage = FALSE; |
822 | } |
822 | } |
823 | #ifdef FOLLOW_ME |
823 | #ifdef FOLLOW_ME |
824 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
824 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
825 | { |
825 | { |
826 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
826 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
827 | { |
827 | { |
828 | TransmitAlsoToFC = 1; |
828 | TransmitAlsoToFC = 1; |
829 | // update FollowMe content |
829 | // update FollowMe content |
830 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
830 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
831 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
831 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
832 | FollowMe.Position.Status = NEWDATA; |
832 | FollowMe.Position.Status = NEWDATA; |
833 | FollowMe.Position.Altitude = 1; |
833 | FollowMe.Position.Altitude = 1; |
834 | // 0 -> no Orientation |
834 | // 0 -> no Orientation |
835 | // 1-360 -> CompassCourse Setpoint |
835 | // 1-360 -> CompassCourse Setpoint |
836 | // -1 -> points to WP1 -> itself |
836 | // -1 -> points to WP1 -> itself |
837 | FollowMe.Heading = -1; |
837 | FollowMe.Heading = -1; |
838 | FollowMe.ToleranceRadius = 1; |
838 | FollowMe.ToleranceRadius = 1; |
839 | FollowMe.HoldTime = 60; |
839 | FollowMe.HoldTime = 60; |
840 | FollowMe.Event_Flag = 1; |
840 | FollowMe.Event_Flag = 1; |
841 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
841 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
842 | FollowMe.Type = POINT_TYPE_WP; |
842 | FollowMe.Type = POINT_TYPE_WP; |
843 | FollowMe.WP_EventChannelValue = 100; // set servo value |
843 | FollowMe.WP_EventChannelValue = 100; // set servo value |
844 | FollowMe.AltitudeRate = 0; // do not change height |
844 | FollowMe.AltitudeRate = 0; // do not change height |
845 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
845 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
846 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
846 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
847 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
847 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
848 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
848 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
849 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
849 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
850 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
850 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
851 | FollowMe.reserve[0] = 0; // reserve |
851 | FollowMe.reserve[0] = 0; // reserve |
852 | FollowMe.reserve[1] = 0; // reserve |
852 | FollowMe.reserve[1] = 0; // reserve |
853 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
853 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
854 | } |
854 | } |
855 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
855 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
856 | } |
856 | } |
857 | #endif |
857 | #endif |
858 | #ifdef DEBUG // only include functions if DEBUG is defined |
858 | #ifdef DEBUG // only include functions if DEBUG is defined |
859 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
859 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
860 | { |
860 | { |
861 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
861 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
862 | SendDebugOutput = 0; |
862 | SendDebugOutput = 0; |
863 | } |
863 | } |
864 | #endif |
864 | #endif |
865 | UART1_Transmit(); // output pending bytes in tx buffer |
865 | UART1_Transmit(); // output pending bytes in tx buffer |
866 | } |
866 | } |
867 | 867 | ||
868 | 868 |