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| 1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| 3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| 25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| 38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 40 | // + with our written permission |
40 | // + with our written permission |
| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
| 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 44 | // |
44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 57 | #include <stdio.h> |
57 | #include <stdio.h> |
| 58 | #include <stdarg.h> |
58 | #include <stdarg.h> |
| 59 | #include <string.h> |
59 | #include <string.h> |
| 60 | 60 | ||
| 61 | #include "91x_lib.h" |
61 | #include "91x_lib.h" |
| 62 | #include "config.h" |
62 | #include "config.h" |
| 63 | #include "menu.h" |
63 | #include "menu.h" |
| 64 | #include "printf_P.h" |
64 | #include "printf_P.h" |
| 65 | #include "GPS.h" |
65 | #include "GPS.h" |
| 66 | #include "i2c.h" |
66 | #include "i2c.h" |
| 67 | #include "uart0.h" |
67 | #include "uart0.h" |
| 68 | #include "uart1.h" |
68 | #include "uart1.h" |
| 69 | #include "uart2.h" |
69 | #include "uart2.h" |
| 70 | #include "timer1.h" |
70 | #include "timer1.h" |
| 71 | #include "timer2.h" |
71 | #include "timer2.h" |
| 72 | #include "analog.h" |
72 | #include "analog.h" |
| 73 | #include "main.h" |
73 | #include "main.h" |
| 74 | #include "waypoints.h" |
74 | #include "waypoints.h" |
| 75 | #include "mkprotocol.h" |
75 | #include "mkprotocol.h" |
| 76 | #include "params.h" |
76 | #include "params.h" |
| 77 | #include "fifo.h" |
77 | #include "fifo.h" |
| 78 | 78 | ||
| 79 | #define FALSE 0 |
79 | #define FALSE 0 |
| 80 | #define TRUE 1 |
80 | #define TRUE 1 |
| 81 | 81 | ||
| 82 | 82 | ||
| 83 | u8 UART1_Request_VersionInfo = FALSE; |
83 | u8 UART1_Request_VersionInfo = FALSE; |
| 84 | u8 UART1_Request_SendFollowMe = FALSE; |
84 | u8 UART1_Request_SendFollowMe = FALSE; |
| 85 | u8 UART1_Request_ExternalControl= FALSE; |
85 | u8 UART1_Request_ExternalControl= FALSE; |
| 86 | u8 UART1_Request_Display = FALSE; |
86 | u8 UART1_Request_Display = FALSE; |
| 87 | u8 UART1_Request_Display1 = FALSE; |
87 | u8 UART1_Request_Display1 = FALSE; |
| 88 | u8 UART1_Request_DebugData = FALSE; |
88 | u8 UART1_Request_DebugData = FALSE; |
| 89 | u8 UART1_Request_DebugLabel = 255; |
89 | u8 UART1_Request_DebugLabel = 255; |
| 90 | u8 UART1_Request_NaviData = FALSE; |
90 | u8 UART1_Request_NaviData = FALSE; |
| 91 | u8 UART1_Request_ErrorMessage = FALSE; |
91 | u8 UART1_Request_ErrorMessage = FALSE; |
| 92 | u8 UART1_Request_NewWaypoint = FALSE; |
92 | u8 UART1_Request_NewWaypoint = FALSE; |
| 93 | u8 UART1_Request_ReadWaypoint = 255; |
93 | u8 UART1_Request_ReadWaypoint = 255; |
| 94 | u8 UART1_Request_Data3D = FALSE; |
94 | u8 UART1_Request_Data3D = FALSE; |
| 95 | u8 UART1_Request_Echo = FALSE; |
95 | u8 UART1_Request_Echo = FALSE; |
| 96 | u8 UART1_Request_ParameterId = 0; |
96 | u8 UART1_Request_ParameterId = 0; |
| 97 | u8 UART1_Request_Parameter = FALSE; |
97 | u8 UART1_Request_Parameter = FALSE; |
| 98 | u8 UART1_DisplayLine = 0; |
98 | u8 UART1_DisplayLine = 0; |
| 99 | u8 UART1_ConfirmFrame = 0; |
99 | u8 UART1_ConfirmFrame = 0; |
| 100 | 100 | ||
| 101 | UART_TypeDef *DebugUART = UART1; |
101 | UART_TypeDef *DebugUART = UART1; |
| 102 | 102 | ||
| 103 | // the primary rx fifo |
103 | // the primary rx fifo |
| 104 | #define UART1_RX_FIFO_LEN 1024 |
104 | #define UART1_RX_FIFO_LEN 1024 |
| 105 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
105 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
| 106 | fifo_t UART1_rx_fifo; |
106 | fifo_t UART1_rx_fifo; |
| 107 | 107 | ||
| 108 | // the rx buffer |
108 | // the rx buffer |
| 109 | #define UART1_RX_BUFFER_LEN 150 |
109 | #define UART1_RX_BUFFER_LEN 150 |
| 110 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
110 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
| 111 | Buffer_t UART1_rx_buffer; |
111 | Buffer_t UART1_rx_buffer; |
| 112 | 112 | ||
| 113 | // the tx buffer |
113 | // the tx buffer |
| 114 | #define UART1_TX_BUFFER_LEN 150 |
114 | #define UART1_TX_BUFFER_LEN 150 |
| 115 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
115 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
| 116 | Buffer_t UART1_tx_buffer; |
116 | Buffer_t UART1_tx_buffer; |
| 117 | 117 | ||
| 118 | 118 | ||
| 119 | 119 | ||
| 120 | volatile u8 SerialLinkOkay = 0; |
120 | volatile u8 SerialLinkOkay = 0; |
| 121 | 121 | ||
| 122 | u8 text[200]; |
122 | u8 text[200]; |
| 123 | 123 | ||
| 124 | const u8 ANALOG_LABEL[32][16] = |
124 | const u8 ANALOG_LABEL[32][16] = |
| 125 | { |
125 | { |
| 126 | //1234567890123456 |
126 | //1234567890123456 |
| 127 | "AngleNick ", //0 |
127 | "AngleNick ", //0 |
| 128 | "AngleRoll ", |
128 | "AngleRoll ", |
| 129 | "AccNick ", |
129 | "AccNick ", |
| 130 | "AccRoll ", |
130 | "AccRoll ", |
| 131 | " ", |
131 | " ", |
| 132 | "MK-Flags ", //5 |
132 | "MK-Flags ", //5 |
| 133 | "NC-Flags ", |
133 | "NC-Flags ", |
| 134 | "NickServo ", |
134 | "NickServo ", |
| 135 | "RollServo ", |
135 | "RollServo ", |
| 136 | "GPS Data ", |
136 | "GPS Data ", |
| 137 | "CompassHeading ", //10 |
137 | "CompassHeading ", //10 |
| 138 | "GyroHeading ", |
138 | "GyroHeading ", |
| 139 | "SPI Error ", |
139 | "SPI Error ", |
| 140 | "SPI Okay ", |
140 | "SPI Okay ", |
| 141 | "I2C Error ", |
141 | "I2C Error ", |
| 142 | "I2C Okay ", //15 |
142 | "I2C Okay ", //15 |
| 143 | " ",// "Kalman_K ", |
143 | " ",// "Kalman_K ", |
| 144 | "ACC_Speed_N ", |
144 | "ACC_Speed_N ", |
| 145 | "ACC_Speed_E ", |
145 | "ACC_Speed_E ", |
| 146 | "Speed_z ",// "GPS ACC ", |
146 | "Speed_z ",// "GPS ACC ", |
| 147 | " ",// "MAXDrift ", //20 |
147 | " ",// "MAXDrift ", //20 |
| 148 | "N_Speed ", |
148 | "N_Speed ", |
| 149 | "E_Speed ", |
149 | "E_Speed ", |
| 150 | "P-Part ", |
150 | "P-Part ", |
| 151 | "I-Part ", |
151 | "I-Part ", |
| 152 | "D-Part ",//25 |
152 | "D-Part ",//25 |
| 153 | "PID-Part ", |
153 | "PID-Part ", |
| 154 | "Distance N ", |
154 | "Distance N ", |
| 155 | "Distance E ", |
155 | "Distance E ", |
| 156 | "GPS_Nick ", |
156 | "GPS_Nick ", |
| 157 | "GPS_Roll ", //30 |
157 | "GPS_Roll ", //30 |
| 158 | "Used_Sats " |
158 | "Used_Sats " |
| 159 | }; |
159 | }; |
| 160 | 160 | ||
| 161 | DebugOut_t DebugOut; |
161 | DebugOut_t DebugOut; |
| 162 | ExternControl_t ExternControl; |
162 | ExternControl_t ExternControl; |
| 163 | UART_VersionInfo_t UART_VersionInfo; |
163 | UART_VersionInfo_t UART_VersionInfo; |
| 164 | NaviData_t NaviData; |
164 | NaviData_t NaviData; |
| 165 | Waypoint_t FollowMe; |
165 | Waypoint_t FollowMe; |
| 166 | Data3D_t Data3D; |
166 | Data3D_t Data3D; |
| 167 | u16 Echo; // 2 bytes recieved will be sent back as echo |
167 | u16 Echo; // 2 bytes recieved will be sent back as echo |
| 168 | 168 | ||
| 169 | u32 UART1_DebugData_Timer; |
169 | u32 UART1_DebugData_Timer; |
| 170 | u32 UART1_DebugData_Interval = 5000; // in ms |
170 | u32 UART1_DebugData_Interval = 5000; // in ms |
| 171 | u32 UART1_NaviData_Timer; |
171 | u32 UART1_NaviData_Timer; |
| 172 | u32 UART1_NaviData_Interval = 5000; // in ms |
172 | u32 UART1_NaviData_Interval = 5000; // in ms |
| 173 | u32 UART1_Data3D_Timer = 0; // in ms |
173 | u32 UART1_Data3D_Timer = 0; // in ms |
| 174 | u32 UART1_Data3D_Interval = 0; |
174 | u32 UART1_Data3D_Interval = 0; |
| 175 | 175 | ||
| 176 | /********************************************************/ |
176 | /********************************************************/ |
| 177 | /* Initialization the UART1 */ |
177 | /* Initialization the UART1 */ |
| 178 | /********************************************************/ |
178 | /********************************************************/ |
| 179 | void UART1_Init (void) |
179 | void UART1_Init (void) |
| 180 | { |
180 | { |
| 181 | GPIO_InitTypeDef GPIO_InitStructure; |
181 | GPIO_InitTypeDef GPIO_InitStructure; |
| 182 | UART_InitTypeDef UART_InitStructure; |
182 | UART_InitTypeDef UART_InitStructure; |
| 183 | 183 | ||
| 184 | // initialize txd buffer |
184 | // initialize txd buffer |
| 185 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
185 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
| 186 | 186 | ||
| 187 | // initialize rxd buffer |
187 | // initialize rxd buffer |
| 188 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
188 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
| 189 | 189 | ||
| 190 | // initialize the rx fifo |
190 | // initialize the rx fifo |
| 191 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN); |
191 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN); |
| 192 | 192 | ||
| 193 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
193 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
| 194 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
194 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
| 195 | 195 | ||
| 196 | /*Configure UART1_Rx pin GPIO3.2*/ |
196 | /*Configure UART1_Rx pin GPIO3.2*/ |
| 197 | GPIO_StructInit(&GPIO_InitStructure); |
197 | GPIO_StructInit(&GPIO_InitStructure); |
| 198 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
198 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| 199 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
199 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
| 200 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
200 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| 201 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
201 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
| 202 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
202 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
| 203 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
203 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
| 204 | 204 | ||
| 205 | /*Configure UART1_Tx pin GPIO3.3*/ |
205 | /*Configure UART1_Tx pin GPIO3.3*/ |
| 206 | GPIO_StructInit(&GPIO_InitStructure); |
206 | GPIO_StructInit(&GPIO_InitStructure); |
| 207 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
207 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| 208 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
208 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
| 209 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
209 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| 210 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
210 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
| 211 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
211 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
| 212 | 212 | ||
| 213 | /* UART1 configured as follow: |
213 | /* UART1 configured as follow: |
| 214 | - Word Length = 8 Bits |
214 | - Word Length = 8 Bits |
| 215 | - One Stop Bit |
215 | - One Stop Bit |
| 216 | - No parity |
216 | - No parity |
| 217 | - BaudRate = 57600 baud |
217 | - BaudRate = 57600 baud |
| 218 | - Hardware flow control Disabled |
218 | - Hardware flow control Disabled |
| 219 | - Receive and transmit enabled |
219 | - Receive and transmit enabled |
| 220 | - Receive and transmit FIFOs are Disabled |
220 | - Receive and transmit FIFOs are Disabled |
| 221 | */ |
221 | */ |
| 222 | UART_StructInit(&UART_InitStructure); |
222 | UART_StructInit(&UART_InitStructure); |
| 223 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
223 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
| 224 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
224 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
| 225 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
225 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
| 226 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
226 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
| 227 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
227 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
| 228 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
228 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
| 229 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
229 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
| 230 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
230 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
| 231 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
231 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
| 232 | 232 | ||
| 233 | UART_DeInit(UART1); // reset uart 1 to default |
233 | UART_DeInit(UART1); // reset uart 1 to default |
| 234 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
234 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
| 235 | // enable uart 1 interrupts selective |
235 | // enable uart 1 interrupts selective |
| 236 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
236 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
| 237 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
237 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
| 238 | // configure the uart 1 interupt line |
238 | // configure the uart 1 interupt line |
| 239 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
239 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
| 240 | // enable the uart 1 IRQ |
240 | // enable the uart 1 IRQ |
| 241 | VIC_ITCmd(UART1_ITLine, ENABLE); |
241 | VIC_ITCmd(UART1_ITLine, ENABLE); |
| 242 | 242 | ||
| 243 | // initialize the debug timer |
243 | // initialize the debug timer |
| 244 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
244 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
| 245 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
245 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
| 246 | 246 | ||
| 247 | // Fill Version Info Structure |
247 | // Fill Version Info Structure |
| 248 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
248 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
| 249 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
249 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
| 250 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
250 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
| 251 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
251 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| 252 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
252 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| 253 | 253 | ||
| 254 | NaviData.Version = NAVIDATA_VERSION; |
254 | NaviData.Version = NAVIDATA_VERSION; |
| 255 | 255 | ||
| 256 | UART1_PutString("\r\nUART1 init...ok"); |
256 | UART1_PutString("\r\nUART1 init...ok"); |
| 257 | } |
257 | } |
| 258 | 258 | ||
| 259 | 259 | ||
| 260 | /****************************************************************/ |
260 | /****************************************************************/ |
| 261 | /* USART1 receiver ISR */ |
261 | /* USART1 receiver ISR */ |
| 262 | /****************************************************************/ |
262 | /****************************************************************/ |
| 263 | void UART1_IRQHandler(void) |
263 | void UART1_IRQHandler(void) |
| 264 | { |
264 | { |
| 265 | static u8 abortState = 0; |
265 | static u8 abortState = 0; |
| 266 | u8 c; |
266 | u8 c; |
| 267 | 267 | ||
| 268 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
268 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
| 269 | { |
269 | { |
| 270 | // clear the pending bits! |
270 | // clear the pending bits! |
| 271 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
271 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
| 272 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
272 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
| 273 | // if debug UART is not UART1 |
273 | // if debug UART is not UART1 |
| 274 | if (DebugUART != UART1) |
274 | if (DebugUART != UART1) |
| 275 | { // forward received data to the debug UART tx buffer |
275 | { // forward received data to the debug UART tx buffer |
| 276 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
276 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
| 277 | { |
277 | { |
| 278 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
278 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
| 279 | c = UART_ReceiveData(UART1); |
279 | c = UART_ReceiveData(UART1); |
| 280 | 280 | ||
| 281 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
281 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
| 282 | switch (abortState) |
282 | switch (abortState) |
| 283 | { |
283 | { |
| 284 | case 0: |
284 | case 0: |
| 285 | if (c == 27) abortState++; |
285 | if (c == 27) abortState++; |
| 286 | break; |
286 | break; |
| 287 | case 1: |
287 | case 1: |
| 288 | if (c == 27) abortState++; |
288 | if (c == 27) abortState++; |
| 289 | else abortState = 0; |
289 | else abortState = 0; |
| 290 | break; |
290 | break; |
| 291 | case 2: |
291 | case 2: |
| 292 | if (c == 0x55) abortState++; |
292 | if (c == 0x55) abortState++; |
| 293 | else abortState = 0; |
293 | else abortState = 0; |
| 294 | break; |
294 | break; |
| 295 | case 3: |
295 | case 3: |
| 296 | if (c == 0xAA) abortState++; |
296 | if (c == 0xAA) abortState++; |
| 297 | else abortState = 0; |
297 | else abortState = 0; |
| 298 | break; |
298 | break; |
| 299 | case 4: |
299 | case 4: |
| 300 | if (c == 0x00) |
300 | if (c == 0x00) |
| 301 | { |
301 | { |
| 302 | if(DebugUART == UART0) |
302 | if(DebugUART == UART0) |
| 303 | { |
303 | { |
| 304 | UART0_Connect_to_MKGPS(); |
304 | UART0_Connect_to_MKGPS(); |
| 305 | TIMER2_Init(); // enbable servo outputs |
305 | TIMER2_Init(); // enbable servo outputs |
| 306 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
306 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
| 307 | } |
307 | } |
| 308 | DebugUART = UART1; |
308 | DebugUART = UART1; |
| 309 | } |
309 | } |
| 310 | abortState = 0; |
310 | abortState = 0; |
| 311 | break; |
311 | break; |
| 312 | } // end switch abort state |
312 | } // end switch abort state |
| 313 | // if the Debug uart is not UART1, redirect input to the Debug UART |
313 | // if the Debug uart is not UART1, redirect input to the Debug UART |
| 314 | if (DebugUART != UART1) |
314 | if (DebugUART != UART1) |
| 315 | { |
315 | { |
| 316 | // wait for space in the tx buffer of the DebugUART |
316 | // wait for space in the tx buffer of the DebugUART |
| 317 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
317 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
| 318 | // move byte to the tx fifo of the debug uart |
318 | // move byte to the tx fifo of the debug uart |
| 319 | UART_SendData(DebugUART, c); |
319 | UART_SendData(DebugUART, c); |
| 320 | } |
320 | } |
| 321 | } |
321 | } |
| 322 | } |
322 | } |
| 323 | else // DebugUART == UART1 (normal operation) |
323 | else // DebugUART == UART1 (normal operation) |
| 324 | { |
324 | { |
| 325 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
325 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
| 326 | { // some byes in the hardware fifo |
326 | { // some byes in the hardware fifo |
| 327 | // get byte from hardware fifo |
327 | // get byte from hardware fifo |
| 328 | c = UART_ReceiveData(UART1); |
328 | c = UART_ReceiveData(UART1); |
| 329 | // put into the software fifo |
329 | // put into the software fifo |
| 330 | if(!fifo_put(&UART1_rx_fifo, c)) |
330 | if(!fifo_put(&UART1_rx_fifo, c)) |
| 331 | { // fifo overflow |
331 | { // fifo overflow |
| 332 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
332 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
| 333 | } |
333 | } |
| 334 | } // EOF while some byes in the hardware fifo |
334 | } // EOF while some byes in the hardware fifo |
| 335 | } // eof DebugUart = UART1 |
335 | } // eof DebugUart = UART1 |
| 336 | } |
336 | } |
| 337 | } |
337 | } |
| 338 | 338 | ||
| 339 | /**************************************************************/ |
339 | /**************************************************************/ |
| 340 | /* Process incomming data from debug uart */ |
340 | /* Process incomming data from debug uart */ |
| 341 | /**************************************************************/ |
341 | /**************************************************************/ |
| 342 | void UART1_ProcessRxData(void) |
342 | void UART1_ProcessRxData(void) |
| 343 | { |
343 | { |
| 344 | // return on forwarding uart or unlocked rx buffer |
344 | // return on forwarding uart or unlocked rx buffer |
| 345 | if(DebugUART != UART1) return; |
345 | if(DebugUART != UART1) return; |
| 346 | 346 | ||
| 347 | u8 c; |
347 | u8 c; |
| 348 | // if rx buffer is not locked |
348 | // if rx buffer is not locked |
| 349 | if(UART1_rx_buffer.Locked == FALSE) |
349 | if(UART1_rx_buffer.Locked == FALSE) |
| 350 | { //collect data from primary rx fifo |
350 | { //collect data from primary rx fifo |
| 351 | while(fifo_get(&UART1_rx_fifo, &c)) |
351 | while(fifo_get(&UART1_rx_fifo, &c)) |
| 352 | { // break if complete frame is collected |
352 | { // break if complete frame is collected |
| 353 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
353 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
| 354 | } |
354 | } |
| 355 | } |
355 | } |
| 356 | if(UART1_rx_buffer.Locked == FALSE) return; |
356 | if(UART1_rx_buffer.Locked == FALSE) return; |
| 357 | 357 | ||
| 358 | Waypoint_t * pWaypoint = NULL; |
358 | Waypoint_t * pWaypoint = NULL; |
| 359 | SerialMsg_t SerialMsg; |
359 | SerialMsg_t SerialMsg; |
| 360 | 360 | ||
| 361 | // analyze header first |
361 | // analyze header first |
| 362 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
362 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
| 363 | if( (SerialMsg.Address == FC_ADDRESS) && (SerialMsg.CmdID == 'y') ) |
363 | if( (SerialMsg.Address == FC_ADDRESS) && (SerialMsg.CmdID == 'y') ) |
| 364 | { |
364 | { |
| - | 365 | switch(SerialMsg.CmdID) |
|
| - | 366 | { |
|
| - | 367 | case 'y': // serial poti values |
|
| - | 368 | case 'b': // extern control |
|
| 365 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); |
369 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
| 366 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
370 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
| 367 | return; |
371 | return; |
| - | 372 | break; |
|
| - | 373 | } |
|
| 368 | } |
374 | } |
| 369 | 375 | ||
| 370 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
376 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
| 371 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
377 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
| 372 | switch(SerialMsg.Address) // check for Slave Address |
378 | switch(SerialMsg.Address) // check for Slave Address |
| 373 | { |
379 | { |
| 374 | case NC_ADDRESS: // own Slave Address |
380 | case NC_ADDRESS: // own Slave Address |
| 375 | switch(SerialMsg.CmdID) |
381 | switch(SerialMsg.CmdID) |
| 376 | { |
382 | { |
| 377 | case 'z': // connection checker |
383 | case 'z': // connection checker |
| 378 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
384 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
| 379 | UART1_Request_Echo = TRUE; |
385 | UART1_Request_Echo = TRUE; |
| 380 | break; |
386 | break; |
| 381 | 387 | ||
| 382 | case 'e': // request for the text of the error status |
388 | case 'e': // request for the text of the error status |
| 383 | UART1_Request_ErrorMessage = TRUE; |
389 | UART1_Request_ErrorMessage = TRUE; |
| 384 | break; |
390 | break; |
| 385 | 391 | ||
| 386 | case 's':// new target position |
392 | case 's':// new target position |
| 387 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
393 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
| 388 | BeepTime = 300; |
394 | BeepTime = 300; |
| 389 | if(pWaypoint->Position.Status == NEWDATA) |
395 | if(pWaypoint->Position.Status == NEWDATA) |
| 390 | { |
396 | { |
| 391 | WPList_Clear(); // empty WPList |
397 | WPList_Clear(); // empty WPList |
| 392 | WPList_Append(pWaypoint); |
398 | WPList_Append(pWaypoint); |
| 393 | GPS_pWaypoint = WPList_Begin(); |
399 | GPS_pWaypoint = WPList_Begin(); |
| 394 | } |
400 | } |
| 395 | break; |
401 | break; |
| 396 | 402 | ||
| 397 | case 'u': // redirect debug uart |
403 | case 'u': // redirect debug uart |
| 398 | switch(SerialMsg.pData[0]) |
404 | switch(SerialMsg.pData[0]) |
| 399 | { |
405 | { |
| 400 | case UART_FLIGHTCTRL: |
406 | case UART_FLIGHTCTRL: |
| 401 | UART2_Init(); // initialize UART2 to FC pins |
407 | UART2_Init(); // initialize UART2 to FC pins |
| 402 | fifo_purge(&UART1_rx_fifo); |
408 | fifo_purge(&UART1_rx_fifo); |
| 403 | TIMER2_Deinit(); // reduce irq load |
409 | TIMER2_Deinit(); // reduce irq load |
| 404 | DebugUART = UART2; |
410 | DebugUART = UART2; |
| 405 | break; |
411 | break; |
| 406 | case UART_MK3MAG: |
412 | case UART_MK3MAG: |
| 407 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
413 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
| 408 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
414 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
| 409 | GPSData.Status = INVALID; |
415 | GPSData.Status = INVALID; |
| 410 | fifo_purge(&UART1_rx_fifo); |
416 | fifo_purge(&UART1_rx_fifo); |
| 411 | DebugUART = UART0; |
417 | DebugUART = UART0; |
| 412 | break; |
418 | break; |
| 413 | case UART_MKGPS: |
419 | case UART_MKGPS: |
| 414 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
420 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
| 415 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
421 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
| 416 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
422 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
| 417 | GPSData.Status = INVALID; |
423 | GPSData.Status = INVALID; |
| 418 | fifo_purge(&UART1_rx_fifo); |
424 | fifo_purge(&UART1_rx_fifo); |
| 419 | DebugUART = UART0; |
425 | DebugUART = UART0; |
| 420 | break; |
426 | break; |
| 421 | default: |
427 | default: |
| 422 | break; |
428 | break; |
| 423 | } |
429 | } |
| 424 | break; |
430 | break; |
| 425 | 431 | ||
| 426 | case 'w':// Append Waypoint to List |
432 | case 'w':// Append Waypoint to List |
| 427 | { |
433 | { |
| 428 | static u8 oldIndex = 0x00; |
434 | static u8 oldIndex = 0x00; |
| 429 | 435 | ||
| 430 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
436 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
| 431 | if(pWaypoint->Position.Status == INVALID) |
437 | if(pWaypoint->Position.Status == INVALID) |
| 432 | { // clear WP List |
438 | { // clear WP List |
| 433 | WPList_Clear(); |
439 | WPList_Clear(); |
| 434 | oldIndex = 0x00; |
440 | oldIndex = 0x00; |
| 435 | GPS_pWaypoint = WPList_Begin(); |
441 | GPS_pWaypoint = WPList_Begin(); |
| 436 | UART1_Request_NewWaypoint = TRUE; |
442 | UART1_Request_NewWaypoint = TRUE; |
| 437 | } |
443 | } |
| 438 | else if (pWaypoint->Position.Status == NEWDATA) |
444 | else if (pWaypoint->Position.Status == NEWDATA) |
| 439 | { // app current WP to the list |
445 | { // app current WP to the list |
| 440 | if (pWaypoint->Index == oldIndex + 1) |
446 | if (pWaypoint->Index == oldIndex + 1) |
| 441 | { |
447 | { |
| 442 | WPList_Append(pWaypoint); |
448 | WPList_Append(pWaypoint); |
| 443 | BeepTime = 500; |
449 | BeepTime = 500; |
| 444 | oldIndex = pWaypoint->Index; |
450 | oldIndex = pWaypoint->Index; |
| 445 | UART1_Request_NewWaypoint = TRUE; |
451 | UART1_Request_NewWaypoint = TRUE; |
| 446 | } |
452 | } |
| 447 | } |
453 | } |
| 448 | } |
454 | } |
| 449 | break; |
455 | break; |
| 450 | 456 | ||
| 451 | case 'x':// Read Waypoint from List |
457 | case 'x':// Read Waypoint from List |
| 452 | UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
458 | UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
| 453 | break; |
459 | break; |
| 454 | 460 | ||
| 455 | case 'j':// Set/Get NC-Parameter |
461 | case 'j':// Set/Get NC-Parameter |
| 456 | switch(SerialMsg.pData[0]) |
462 | switch(SerialMsg.pData[0]) |
| 457 | { |
463 | { |
| 458 | case 0: // get |
464 | case 0: // get |
| 459 | break; |
465 | break; |
| 460 | 466 | ||
| 461 | case 1: // set |
467 | case 1: // set |
| 462 | { |
468 | { |
| 463 | s16 value; |
469 | s16 value; |
| 464 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
470 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
| 465 | NCParams_SetValue(SerialMsg.pData[1], &value); |
471 | NCParams_SetValue(SerialMsg.pData[1], &value); |
| 466 | } |
472 | } |
| 467 | break; |
473 | break; |
| 468 | 474 | ||
| 469 | default: |
475 | default: |
| 470 | break; |
476 | break; |
| 471 | } |
477 | } |
| 472 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
478 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
| 473 | UART1_Request_Parameter = TRUE; |
479 | UART1_Request_Parameter = TRUE; |
| 474 | break; |
480 | break; |
| 475 | default: |
481 | default: |
| 476 | // unsupported command recieved |
482 | // unsupported command recieved |
| 477 | break; |
483 | break; |
| 478 | } // case NC_ADDRESS |
484 | } // case NC_ADDRESS |
| 479 | // "break;" is missing here to fall thru to the common commands |
485 | // "break;" is missing here to fall thru to the common commands |
| 480 | 486 | ||
| 481 | default: // and any other Slave Address |
487 | default: // and any other Slave Address |
| 482 | 488 | ||
| 483 | switch(SerialMsg.CmdID) // check CmdID |
489 | switch(SerialMsg.CmdID) // check CmdID |
| 484 | { |
490 | { |
| 485 | case 'a':// request for the labels of the analog debug outputs |
491 | case 'a':// request for the labels of the analog debug outputs |
| 486 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
492 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
| 487 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
493 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
| 488 | break; |
494 | break; |
| 489 | 495 | ||
| 490 | case 'b': // submit extern control |
496 | case 'b': // submit extern control |
| 491 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
497 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
| 492 | UART1_ConfirmFrame = ExternControl.Frame; |
498 | UART1_ConfirmFrame = ExternControl.Frame; |
| 493 | break; |
499 | break; |
| 494 | 500 | ||
| 495 | case 'd': // request for debug data; |
501 | case 'd': // request for debug data; |
| 496 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
502 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
| 497 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
503 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
| 498 | break; |
504 | break; |
| 499 | 505 | ||
| 500 | case 'c': // request for 3D data; |
506 | case 'c': // request for 3D data; |
| 501 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
507 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
| 502 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
508 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
| 503 | break; |
509 | break; |
| 504 | 510 | ||
| 505 | case 'g':// request for external control data |
511 | case 'g':// request for external control data |
| 506 | UART1_Request_ExternalControl = TRUE; |
512 | UART1_Request_ExternalControl = TRUE; |
| 507 | break; |
513 | break; |
| 508 | 514 | ||
| 509 | case 'h':// reqest for display line |
515 | case 'h':// reqest for display line |
| 510 | RemoteKeys |= SerialMsg.pData[0]; |
516 | RemoteKeys |= SerialMsg.pData[0]; |
| 511 | if(RemoteKeys != 0) UART1_DisplayLine = 0; |
517 | if(RemoteKeys != 0) UART1_DisplayLine = 0; |
| 512 | UART1_Request_Display = TRUE; |
518 | UART1_Request_Display = TRUE; |
| 513 | break; |
519 | break; |
| 514 | 520 | ||
| 515 | case 'l':// reqest for display columns |
521 | case 'l':// reqest for display columns |
| 516 | MenuItem = SerialMsg.pData[0]; |
522 | MenuItem = SerialMsg.pData[0]; |
| 517 | UART1_Request_Display1 = TRUE; |
523 | UART1_Request_Display1 = TRUE; |
| 518 | break; |
524 | break; |
| 519 | 525 | ||
| 520 | case 'o': // request for navigation information |
526 | case 'o': // request for navigation information |
| 521 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
527 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
| 522 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
528 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
| 523 | break; |
529 | break; |
| 524 | 530 | ||
| 525 | case 'v': // request for version info |
531 | case 'v': // request for version info |
| 526 | UART1_Request_VersionInfo = TRUE; |
532 | UART1_Request_VersionInfo = TRUE; |
| 527 | break; |
533 | break; |
| 528 | default: |
534 | default: |
| 529 | // unsupported command recieved |
535 | // unsupported command recieved |
| 530 | break; |
536 | break; |
| 531 | } |
537 | } |
| 532 | break; // default: |
538 | break; // default: |
| 533 | } |
539 | } |
| 534 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
540 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
| 535 | } |
541 | } |
| 536 | 542 | ||
| 537 | 543 | ||
| 538 | /*****************************************************/ |
544 | /*****************************************************/ |
| 539 | /* Send a character */ |
545 | /* Send a character */ |
| 540 | /*****************************************************/ |
546 | /*****************************************************/ |
| 541 | s16 UART1_Putchar(char c) |
547 | s16 UART1_Putchar(char c) |
| 542 | { |
548 | { |
| 543 | if (c == '\n') UART1_Putchar('\r'); |
549 | if (c == '\n') UART1_Putchar('\r'); |
| 544 | // wait until txd fifo is not full |
550 | // wait until txd fifo is not full |
| 545 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
551 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
| 546 | // transmit byte |
552 | // transmit byte |
| 547 | UART_SendData(UART1, c); |
553 | UART_SendData(UART1, c); |
| 548 | return (0); |
554 | return (0); |
| 549 | } |
555 | } |
| 550 | 556 | ||
| 551 | /*****************************************************/ |
557 | /*****************************************************/ |
| 552 | /* Send a string to the debug uart */ |
558 | /* Send a string to the debug uart */ |
| 553 | /*****************************************************/ |
559 | /*****************************************************/ |
| 554 | void UART1_PutString(u8 *s) |
560 | void UART1_PutString(u8 *s) |
| 555 | { |
561 | { |
| 556 | if(s == NULL) return; |
562 | if(s == NULL) return; |
| 557 | while (*s != '\0' && DebugUART == UART1) |
563 | while (*s != '\0' && DebugUART == UART1) |
| 558 | { |
564 | { |
| 559 | UART1_Putchar(*s); |
565 | UART1_Putchar(*s); |
| 560 | s ++; |
566 | s ++; |
| 561 | } |
567 | } |
| 562 | } |
568 | } |
| 563 | 569 | ||
| 564 | 570 | ||
| 565 | /**************************************************************/ |
571 | /**************************************************************/ |
| 566 | /* Transmit tx buffer via debug uart */ |
572 | /* Transmit tx buffer via debug uart */ |
| 567 | /**************************************************************/ |
573 | /**************************************************************/ |
| 568 | void UART1_Transmit(void) |
574 | void UART1_Transmit(void) |
| 569 | { |
575 | { |
| 570 | u8 tmp_tx; |
576 | u8 tmp_tx; |
| 571 | if(DebugUART != UART1) return; |
577 | if(DebugUART != UART1) return; |
| 572 | // if something has to be send and the txd fifo is not full |
578 | // if something has to be send and the txd fifo is not full |
| 573 | if(UART1_tx_buffer.Locked == TRUE) |
579 | if(UART1_tx_buffer.Locked == TRUE) |
| 574 | { |
580 | { |
| 575 | // while there is some space in the tx fifo |
581 | // while there is some space in the tx fifo |
| 576 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
582 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
| 577 | { |
583 | { |
| 578 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
584 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
| 579 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
585 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
| 580 | // if terminating character or end of txd buffer reached |
586 | // if terminating character or end of txd buffer reached |
| 581 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
587 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
| 582 | { |
588 | { |
| 583 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
589 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
| 584 | break; // end while loop |
590 | break; // end while loop |
| 585 | } |
591 | } |
| 586 | } |
592 | } |
| 587 | } |
593 | } |
| 588 | } |
594 | } |
| 589 | 595 | ||
| 590 | /**************************************************************/ |
596 | /**************************************************************/ |
| 591 | /* Send the answers to incomming commands at the debug uart */ |
597 | /* Send the answers to incomming commands at the debug uart */ |
| 592 | /**************************************************************/ |
598 | /**************************************************************/ |
| 593 | void UART1_TransmitTxData(void) |
599 | void UART1_TransmitTxData(void) |
| 594 | { |
600 | { |
| 595 | if(DebugUART != UART1) return; |
601 | if(DebugUART != UART1) return; |
| 596 | UART1_Transmit(); // output pending bytes in tx buffer |
602 | UART1_Transmit(); // output pending bytes in tx buffer |
| 597 | if((UART1_tx_buffer.Locked == TRUE)) return; |
603 | if((UART1_tx_buffer.Locked == TRUE)) return; |
| 598 | 604 | ||
| 599 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
605 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
| 600 | { |
606 | { |
| 601 | s16 ParamValue; |
607 | s16 ParamValue; |
| 602 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
608 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
| 603 | //sprintf(text, "\r\nId=%d, value = %d\r\n", UART1_Request_ParameterId, ParamValue); |
609 | //sprintf(text, "\r\nId=%d, value = %d\r\n", UART1_Request_ParameterId, ParamValue); |
| 604 | //UART1_PutString(text); |
610 | //UART1_PutString(text); |
| 605 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
611 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
| 606 | UART1_Request_Parameter = FALSE; |
612 | UART1_Request_Parameter = FALSE; |
| 607 | } |
613 | } |
| 608 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
614 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
| 609 | { |
615 | { |
| 610 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
616 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
| 611 | Echo = 0; // reset echo value |
617 | Echo = 0; // reset echo value |
| 612 | UART1_Request_Echo = FALSE; |
618 | UART1_Request_Echo = FALSE; |
| 613 | } |
619 | } |
| 614 | else if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE)) |
620 | else if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE)) |
| 615 | { |
621 | { |
| 616 | u8 WPNumber = WPList_GetCount(); |
622 | u8 WPNumber = WPList_GetCount(); |
| 617 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
623 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
| 618 | UART1_Request_NewWaypoint = FALSE; |
624 | UART1_Request_NewWaypoint = FALSE; |
| 619 | } |
625 | } |
| 620 | else if((UART1_Request_ReadWaypoint != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
626 | else if((UART1_Request_ReadWaypoint != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
| 621 | { |
627 | { |
| 622 | u8 WPNumber = WPList_GetCount(); |
628 | u8 WPNumber = WPList_GetCount(); |
| 623 | if (UART1_Request_ReadWaypoint < WPNumber) |
629 | if (UART1_Request_ReadWaypoint < WPNumber) |
| 624 | { |
630 | { |
| 625 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &UART1_Request_ReadWaypoint, 1, WPList_GetAt(UART1_Request_ReadWaypoint), sizeof(Waypoint_t)); |
631 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &UART1_Request_ReadWaypoint, 1, WPList_GetAt(UART1_Request_ReadWaypoint), sizeof(Waypoint_t)); |
| 626 | } |
632 | } |
| 627 | else |
633 | else |
| 628 | { |
634 | { |
| 629 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
635 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
| 630 | } |
636 | } |
| 631 | UART1_Request_ReadWaypoint = 0xFF; |
637 | UART1_Request_ReadWaypoint = 0xFF; |
| 632 | } |
638 | } |
| 633 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
639 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
| 634 | { |
640 | { |
| 635 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
641 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
| 636 | UART1_Request_DebugLabel = 0xFF; |
642 | UART1_Request_DebugLabel = 0xFF; |
| 637 | } |
643 | } |
| 638 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
644 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
| 639 | { |
645 | { |
| 640 | NaviData.Errorcode = ErrorCode; |
646 | NaviData.Errorcode = ErrorCode; |
| 641 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
647 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
| 642 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
648 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
| 643 | UART1_Request_NaviData = FALSE; |
649 | UART1_Request_NaviData = FALSE; |
| 644 | } |
650 | } |
| 645 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
651 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
| 646 | { |
652 | { |
| 647 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
653 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
| 648 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
654 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
| 649 | UART1_Request_DebugData = FALSE; |
655 | UART1_Request_DebugData = FALSE; |
| 650 | } |
656 | } |
| 651 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
657 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
| 652 | { |
658 | { |
| 653 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
659 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
| 654 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
660 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
| 655 | UART1_Request_Data3D = FALSE; |
661 | UART1_Request_Data3D = FALSE; |
| 656 | } |
662 | } |
| - | 663 | ||
| 657 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
664 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
| 658 | { |
665 | { |
| 659 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
666 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
| 660 | UART1_ConfirmFrame = 0; |
667 | UART1_ConfirmFrame = 0; |
| 661 | } |
668 | } |
| - | 669 | ||
| - | 670 | ||
| 662 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
671 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
| 663 | { |
672 | { |
| 664 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
673 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
| 665 | UART1_Request_ExternalControl = FALSE; |
674 | UART1_Request_ExternalControl = FALSE; |
| 666 | } |
675 | } |
| - | 676 | ||
| 667 | else if(UART1_Request_Display && (UART1_tx_buffer.Locked == FALSE)) |
677 | else if(UART1_Request_Display && (UART1_tx_buffer.Locked == FALSE)) |
| 668 | { |
678 | { |
| 669 | LCD_PrintMenu(); |
679 | LCD_PrintMenu(); |
| 670 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&DisplayBuff[UART1_DisplayLine * 20], 20); |
680 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&DisplayBuff[UART1_DisplayLine * 20], 20); |
| 671 | UART1_DisplayLine++; |
681 | UART1_DisplayLine++; |
| 672 | if(UART1_DisplayLine >= 4) UART1_DisplayLine = 0; |
682 | if(UART1_DisplayLine >= 4) UART1_DisplayLine = 0; |
| 673 | UART1_Request_Display = FALSE; |
683 | UART1_Request_Display = FALSE; |
| 674 | } |
684 | } |
| 675 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
685 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
| 676 | { |
686 | { |
| 677 | LCD_PrintMenu(); |
687 | LCD_PrintMenu(); |
| 678 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
688 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
| 679 | UART1_Request_Display1 = FALSE; |
689 | UART1_Request_Display1 = FALSE; |
| 680 | } |
690 | } |
| 681 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
691 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
| 682 | { |
692 | { |
| 683 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
693 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
| 684 | UART1_Request_VersionInfo = FALSE; |
694 | UART1_Request_VersionInfo = FALSE; |
| 685 | } |
695 | } |
| 686 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
696 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
| 687 | { |
697 | { |
| 688 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
698 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
| 689 | UART1_Request_ErrorMessage = FALSE; |
699 | UART1_Request_ErrorMessage = FALSE; |
| 690 | } |
700 | } |
| 691 | else if(UART1_Request_SendFollowMe && (UART1_tx_buffer.Locked == FALSE) && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
701 | else if(UART1_Request_SendFollowMe && (UART1_tx_buffer.Locked == FALSE) && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
| 692 | { |
702 | { |
| 693 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
703 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
| 694 | FollowMe.Position.Status = NEWDATA; |
704 | FollowMe.Position.Status = NEWDATA; |
| 695 | FollowMe.Heading = -1; |
705 | FollowMe.Heading = -1; |
| 696 | FollowMe.ToleranceRadius = 1; |
706 | FollowMe.ToleranceRadius = 1; |
| 697 | FollowMe.HoldTime = 60; |
707 | FollowMe.HoldTime = 60; |
| 698 | FollowMe.Event_Flag = 0; |
708 | FollowMe.Event_Flag = 0; |
| - | 709 | FollowMe.Index = 1; |
|
| 699 | FollowMe.reserve[0] = 0; // reserve |
710 | FollowMe.reserve[0] = 0; // reserve |
| 700 | FollowMe.reserve[1] = 0; // reserve |
711 | FollowMe.reserve[1] = 0; // reserve |
| 701 | FollowMe.reserve[2] = 0; // reserve |
712 | FollowMe.reserve[2] = 0; // reserve |
| 702 | FollowMe.reserve[3] = 0; // reserve |
713 | FollowMe.reserve[3] = 0; // reserve |
| 703 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
714 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
| 704 | UART1_Request_SendFollowMe = FALSE; |
715 | UART1_Request_SendFollowMe = FALSE; |
| 705 | } |
716 | } |
| 706 | UART1_Transmit(); // output pending bytes in tx buffer |
717 | UART1_Transmit(); // output pending bytes in tx buffer |
| 707 | } |
718 | } |
| 708 | 719 | ||
| 709 | 720 | ||