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| 1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| 3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| 6 | // + Nur für den privaten Gebrauch |
6 | // + Nur für den privaten Gebrauch |
| 7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| 22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| 25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| 38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 40 | // + with our written permission |
40 | // + with our written permission |
| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
| 43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
| 44 | // |
44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 57 | #include <stdio.h> |
57 | #include <stdio.h> |
| 58 | #include <stdarg.h> |
58 | #include <stdarg.h> |
| 59 | #include <string.h> |
59 | #include <string.h> |
| 60 | 60 | ||
| 61 | #include "91x_lib.h" |
61 | #include "91x_lib.h" |
| 62 | #include "config.h" |
62 | #include "config.h" |
| 63 | #include "menu.h" |
63 | #include "menu.h" |
| 64 | #include "printf_P.h" |
64 | #include "printf_P.h" |
| 65 | #include "GPS.h" |
65 | #include "GPS.h" |
| 66 | #include "i2c.h" |
66 | #include "i2c.h" |
| 67 | #include "uart0.h" |
67 | #include "uart0.h" |
| 68 | #include "uart1.h" |
68 | #include "uart1.h" |
| 69 | #include "uart2.h" |
69 | #include "uart2.h" |
| 70 | #include "timer1.h" |
70 | #include "timer1.h" |
| - | 71 | #include "timer2.h" |
|
| - | 72 | #include "analog.h" |
|
| 71 | #include "main.h" |
73 | #include "main.h" |
| 72 | #include "waypoints.h" |
74 | #include "waypoints.h" |
| 73 | #include "mkprotocol.h" |
75 | #include "mkprotocol.h" |
| 74 | 76 | ||
| 75 | #define FALSE 0 |
77 | #define FALSE 0 |
| 76 | #define TRUE 1 |
78 | #define TRUE 1 |
| 77 | 79 | ||
| 78 | 80 | ||
| 79 | u8 UART1_Request_VersionInfo = FALSE; |
81 | u8 UART1_Request_VersionInfo = FALSE; |
| 80 | u8 UART1_Request_SendFollowMe = FALSE; |
82 | u8 UART1_Request_SendFollowMe = FALSE; |
| 81 | u8 UART1_Request_ExternalControl= FALSE; |
83 | u8 UART1_Request_ExternalControl= FALSE; |
| 82 | u8 UART1_Request_Display = FALSE; |
84 | u8 UART1_Request_Display = FALSE; |
| 83 | u8 UART1_Request_Display1 = FALSE; |
85 | u8 UART1_Request_Display1 = FALSE; |
| 84 | u8 UART1_Request_DebugData = FALSE; |
86 | u8 UART1_Request_DebugData = FALSE; |
| 85 | u8 UART1_Request_DebugLabel = 255; |
87 | u8 UART1_Request_DebugLabel = 255; |
| 86 | u8 UART1_Request_NaviData = FALSE; |
88 | u8 UART1_Request_NaviData = FALSE; |
| 87 | u8 UART1_Request_ErrorMessage = FALSE; |
89 | u8 UART1_Request_ErrorMessage = FALSE; |
| 88 | u8 UART1_Request_NewWaypoint = FALSE; |
90 | u8 UART1_Request_NewWaypoint = FALSE; |
| 89 | u8 UART1_Request_ReadWaypoint = 255; |
91 | u8 UART1_Request_ReadWaypoint = 255; |
| 90 | u8 UART1_Request_Data3D = FALSE; |
92 | u8 UART1_Request_Data3D = FALSE; |
| 91 | u8 UART1_Request_Echo = FALSE; |
93 | u8 UART1_Request_Echo = FALSE; |
| 92 | u8 UART1_DisplayLine = 0; |
94 | u8 UART1_DisplayLine = 0; |
| 93 | u8 UART1_ConfirmFrame = 0; |
95 | u8 UART1_ConfirmFrame = 0; |
| 94 | 96 | ||
| 95 | UART_TypeDef *DebugUART = UART1; |
97 | UART_TypeDef *DebugUART = UART1; |
| 96 | 98 | ||
| 97 | // the tx buffer |
99 | // the tx buffer |
| 98 | #define UART1_TX_BUFFER_LEN 150 |
100 | #define UART1_TX_BUFFER_LEN 150 |
| 99 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
101 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
| 100 | Buffer_t UART1_tx_buffer; |
102 | Buffer_t UART1_tx_buffer; |
| 101 | 103 | ||
| 102 | // the rx buffer |
104 | // the rx buffer |
| 103 | #define UART1_RX_BUFFER_LEN 150 |
105 | #define UART1_RX_BUFFER_LEN 150 |
| 104 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
106 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
| 105 | Buffer_t UART1_rx_buffer; |
107 | Buffer_t UART1_rx_buffer; |
| 106 | 108 | ||
| 107 | volatile u8 SerialLinkOkay = 0; |
109 | volatile u8 SerialLinkOkay = 0; |
| 108 | 110 | ||
| 109 | u8 text[100]; |
111 | u8 text[100]; |
| 110 | 112 | ||
| 111 | const u8 ANALOG_LABEL[32][16] = |
113 | const u8 ANALOG_LABEL[32][16] = |
| 112 | { |
114 | { |
| 113 | //1234567890123456 |
115 | //1234567890123456 |
| 114 | "AngleNick ", //0 |
116 | "AngleNick ", //0 |
| 115 | "AngleRoll ", |
117 | "AngleRoll ", |
| 116 | "AccNick ", |
118 | "AccNick ", |
| 117 | "AccRoll ", |
119 | "AccRoll ", |
| 118 | " ", |
120 | " ", |
| 119 | "MK-Flags ", //5 |
121 | "MK-Flags ", //5 |
| 120 | "NC-Flags ", |
122 | "NC-Flags ", |
| 121 | "NickServo ", |
123 | "NickServo ", |
| 122 | "RollServo ", |
124 | "RollServo ", |
| 123 | "GPS Data ", |
125 | "GPS Data ", |
| 124 | "CompassHeading ", //10 |
126 | "CompassHeading ", //10 |
| 125 | "GyroHeading ", |
127 | "GyroHeading ", |
| 126 | "SPI Error ", |
128 | "SPI Error ", |
| 127 | "SPI Okay ", |
129 | "SPI Okay ", |
| 128 | "I2C Error ", |
130 | "I2C Error ", |
| 129 | "I2C Okay ", //15 |
131 | "I2C Okay ", //15 |
| 130 | " ",// "FC_Kalman_K ", |
132 | " ",// "FC_Kalman_K ", |
| 131 | "ACC_Speed_N ", |
133 | "ACC_Speed_N ", |
| 132 | "ACC_Speed_E ", |
134 | "ACC_Speed_E ", |
| 133 | " ",// "GPS ACC ", |
135 | " ",// "GPS ACC ", |
| 134 | " ",// "MAXDrift ", //20 |
136 | " ",// "MAXDrift ", //20 |
| 135 | "N_Speed ", |
137 | "N_Speed ", |
| 136 | "E_Speed ", |
138 | "E_Speed ", |
| 137 | "P-Part ", |
139 | "P-Part ", |
| 138 | "I-Part ", |
140 | "I-Part ", |
| 139 | "D-Part ",//25 |
141 | "D-Part ",//25 |
| 140 | "PID-Part ", |
142 | "PID-Part ", |
| 141 | "Distance N ", |
143 | "Distance N ", |
| 142 | "Distance E ", |
144 | "Distance E ", |
| 143 | "GPS_Nick ", |
145 | "GPS_Nick ", |
| 144 | "GPS_Roll ", //30 |
146 | "GPS_Roll ", //30 |
| 145 | "Used_Sats " |
147 | "Used_Sats " |
| 146 | }; |
148 | }; |
| 147 | 149 | ||
| 148 | DebugOut_t DebugOut; |
150 | DebugOut_t DebugOut; |
| 149 | ExternControl_t ExternControl; |
151 | ExternControl_t ExternControl; |
| 150 | UART_VersionInfo_t UART_VersionInfo; |
152 | UART_VersionInfo_t UART_VersionInfo; |
| 151 | NaviData_t NaviData; |
153 | NaviData_t NaviData; |
| 152 | Waypoint_t FollowMe; |
154 | Waypoint_t FollowMe; |
| 153 | Data3D_t Data3D; |
155 | Data3D_t Data3D; |
| 154 | u16 Echo; // 2 bytes recieved will be sent back as echo |
156 | u16 Echo; // 2 bytes recieved will be sent back as echo |
| 155 | 157 | ||
| 156 | u32 UART1_DebugData_Timer; |
158 | u32 UART1_DebugData_Timer; |
| 157 | u32 UART1_DebugData_Interval = 5000; // in ms |
159 | u32 UART1_DebugData_Interval = 5000; // in ms |
| 158 | u32 UART1_NaviData_Timer; |
160 | u32 UART1_NaviData_Timer; |
| 159 | u32 UART1_NaviData_Interval = 5000; // in ms |
161 | u32 UART1_NaviData_Interval = 5000; // in ms |
| 160 | u32 UART1_Data3D_Timer = 0; // in ms |
162 | u32 UART1_Data3D_Timer = 0; // in ms |
| 161 | u32 UART1_Data3D_Interval = 0; |
163 | u32 UART1_Data3D_Interval = 0; |
| 162 | 164 | ||
| 163 | /********************************************************/ |
165 | /********************************************************/ |
| 164 | /* Initialization the UART1 */ |
166 | /* Initialization the UART1 */ |
| 165 | /********************************************************/ |
167 | /********************************************************/ |
| 166 | void UART1_Init (void) |
168 | void UART1_Init (void) |
| 167 | { |
169 | { |
| 168 | GPIO_InitTypeDef GPIO_InitStructure; |
170 | GPIO_InitTypeDef GPIO_InitStructure; |
| 169 | UART_InitTypeDef UART_InitStructure; |
171 | UART_InitTypeDef UART_InitStructure; |
| 170 | 172 | ||
| 171 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
173 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
| 172 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
174 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
| 173 | 175 | ||
| 174 | /*Configure UART1_Rx pin GPIO3.2*/ |
176 | /*Configure UART1_Rx pin GPIO3.2*/ |
| 175 | GPIO_StructInit(&GPIO_InitStructure); |
177 | GPIO_StructInit(&GPIO_InitStructure); |
| 176 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
178 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| 177 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
179 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
| 178 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
180 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| 179 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
181 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
| 180 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
182 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
| 181 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
183 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
| 182 | 184 | ||
| 183 | /*Configure UART1_Tx pin GPIO3.3*/ |
185 | /*Configure UART1_Tx pin GPIO3.3*/ |
| 184 | GPIO_StructInit(&GPIO_InitStructure); |
186 | GPIO_StructInit(&GPIO_InitStructure); |
| 185 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
187 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| 186 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
188 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
| 187 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
189 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| 188 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
190 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
| 189 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
191 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
| 190 | 192 | ||
| 191 | /* UART1 configured as follow: |
193 | /* UART1 configured as follow: |
| 192 | - Word Length = 8 Bits |
194 | - Word Length = 8 Bits |
| 193 | - One Stop Bit |
195 | - One Stop Bit |
| 194 | - No parity |
196 | - No parity |
| 195 | - BaudRate = 57600 baud |
197 | - BaudRate = 57600 baud |
| 196 | - Hardware flow control Disabled |
198 | - Hardware flow control Disabled |
| 197 | - Receive and transmit enabled |
199 | - Receive and transmit enabled |
| 198 | - Receive and transmit FIFOs are Disabled |
200 | - Receive and transmit FIFOs are Disabled |
| 199 | */ |
201 | */ |
| 200 | UART_StructInit(&UART_InitStructure); |
202 | UART_StructInit(&UART_InitStructure); |
| 201 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
203 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
| 202 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
204 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
| 203 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
205 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
| 204 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
206 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
| 205 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
207 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
| 206 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
208 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
| 207 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
209 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
| 208 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
210 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
| 209 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_8; |
211 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
| 210 | 212 | ||
| 211 | UART_DeInit(UART1); // reset uart 1 to default |
213 | UART_DeInit(UART1); // reset uart 1 to default |
| 212 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
214 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
| 213 | // enable uart 1 interrupts selective |
215 | // enable uart 1 interrupts selective |
| 214 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
216 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
| 215 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
217 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
| 216 | // configure the uart 1 interupt line |
218 | // configure the uart 1 interupt line |
| 217 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
219 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
| 218 | // enable the uart 1 IRQ |
220 | // enable the uart 1 IRQ |
| 219 | VIC_ITCmd(UART1_ITLine, ENABLE); |
221 | VIC_ITCmd(UART1_ITLine, ENABLE); |
| 220 | // initialize the debug timer |
222 | // initialize the debug timer |
| 221 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
223 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
| 222 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
224 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
| 223 | 225 | ||
| 224 | // initialize txd buffer |
226 | // initialize txd buffer |
| 225 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
227 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
| 226 | 228 | ||
| 227 | // initialize rxd buffer |
229 | // initialize rxd buffer |
| 228 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
230 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
| 229 | 231 | ||
| 230 | // Fill Version Info Structure |
232 | // Fill Version Info Structure |
| 231 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
233 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
| 232 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
234 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
| 233 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
235 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
| 234 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
236 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| 235 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
237 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| 236 | 238 | ||
| 237 | NaviData.Version = NAVIDATA_VERSION; |
239 | NaviData.Version = NAVIDATA_VERSION; |
| 238 | 240 | ||
| 239 | UART1_PutString("\r\nUART1 init...ok"); |
241 | UART1_PutString("\r\nUART1 init...ok"); |
| 240 | } |
242 | } |
| 241 | 243 | ||
| 242 | 244 | ||
| 243 | /****************************************************************/ |
245 | /****************************************************************/ |
| 244 | /* USART1 receiver ISR */ |
246 | /* USART1 receiver ISR */ |
| 245 | /****************************************************************/ |
247 | /****************************************************************/ |
| 246 | void UART1_IRQHandler(void) |
248 | void UART1_IRQHandler(void) |
| 247 | { |
249 | { |
| 248 | static u8 abortState = 0; |
250 | static u8 abortState = 0; |
| 249 | u8 c; |
251 | u8 c; |
| 250 | 252 | ||
| 251 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
253 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
| 252 | { |
254 | { |
| 253 | // clear the pending bits |
255 | // clear the pending bits |
| 254 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
256 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
| 255 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
257 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
| 256 | // if debug UART is not UART1 |
258 | // if debug UART is not UART1 |
| 257 | if (DebugUART != UART1) |
259 | if (DebugUART != UART1) |
| 258 | { // forward received data to the debug UART tx buffer |
260 | { // forward received data to the debug UART tx buffer |
| 259 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
261 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
| 260 | { |
262 | { |
| 261 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
263 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
| 262 | c = UART_ReceiveData(UART1); |
264 | c = UART_ReceiveData(UART1); |
| 263 | 265 | ||
| 264 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
266 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
| 265 | switch (abortState) |
267 | switch (abortState) |
| 266 | { |
268 | { |
| - | 269 | case 0: |
|
| 267 | case 0: if (c == 27) abortState++; |
270 | if (c == 27) abortState++; |
| 268 | break; |
271 | break; |
| - | 272 | case 1: |
|
| 269 | case 1: if (c == 27) abortState++; else abortState = 0; |
273 | if (c == 27) abortState++; |
| - | 274 | else abortState = 0; |
|
| 270 | break; |
275 | break; |
| - | 276 | case 2: |
|
| 271 | case 2: if (c == 0x55) abortState++; else abortState = 0; |
277 | if (c == 0x55) abortState++; |
| - | 278 | else abortState = 0; |
|
| 272 | break; |
279 | break; |
| 273 | case 3: if (c == 0xAA) abortState++; else abortState = 0; |
- | |
| 274 | break; |
280 | case 3: |
| 275 | case 4: if (c == 0x00) |
281 | if (c == 0xAA) abortState++; |
| 276 | { |
- | |
| 277 | DebugUART = UART1; |
- | |
| 278 | UART0_Connect_to_MKGPS(); |
- | |
| 279 | } |
- | |
| 280 | abortState = 0; |
282 | else abortState = 0; |
| 281 | break; |
283 | break; |
| - | 284 | case 4: |
|
| - | 285 | if (c == 0x00) |
|
| - | 286 | { |
|
| - | 287 | if(DebugUART == UART0) |
|
| - | 288 | { |
|
| - | 289 | UART0_Connect_to_MKGPS(); |
|
| - | 290 | TIMER2_Init(); |
|
| - | 291 | Analog_Init(); |
|
| - | 292 | } |
|
| - | 293 | DebugUART = UART1; |
|
| 282 | } |
294 | } |
| - | 295 | abortState = 0; |
|
| - | 296 | break; |
|
| - | 297 | } // end switch abort state |
|
| 283 | // if the Debug uart is not UART1, redirect input to the Debug UART |
298 | // if the Debug uart is not UART1, redirect input to the Debug UART |
| 284 | if (DebugUART != UART1) |
299 | if (DebugUART != UART1) |
| 285 | { |
300 | { |
| 286 | // wait for space in the tx buffer of the DebugUART |
301 | // wait for space in the tx buffer of the DebugUART |
| 287 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
302 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
| 288 | // move byte to the tx fifi of the debug uart |
303 | // move byte to the tx fifi of the debug uart |
| 289 | UART_SendData(DebugUART, c); |
304 | UART_SendData(DebugUART, c); |
| 290 | } |
305 | } |
| 291 | } |
306 | } |
| 292 | } |
307 | } |
| 293 | else // DebugUART == UART1 (normal operation) |
308 | else // DebugUART == UART1 (normal operation) |
| 294 | { |
309 | { |
| 295 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
310 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
| 296 | { // some byes in the fifo and rxd buffer not locked |
311 | { // some byes in the fifo and rxd buffer not locked |
| 297 | // get byte from fifo |
312 | // get byte from fifo |
| 298 | c = UART_ReceiveData(UART1); |
313 | c = UART_ReceiveData(UART1); |
| 299 | MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c); |
314 | MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c); |
| 300 | } // some byes in the fifo and rxd buffer not locked |
315 | } // some byes in the fifo and rxd buffer not locked |
| 301 | } // eof DebugUart = UART1 |
316 | } // eof DebugUart = UART1 |
| 302 | } |
317 | } |
| 303 | } |
318 | } |
| 304 | 319 | ||
| 305 | /**************************************************************/ |
320 | /**************************************************************/ |
| 306 | /* Process incomming data from debug uart */ |
321 | /* Process incomming data from debug uart */ |
| 307 | /**************************************************************/ |
322 | /**************************************************************/ |
| 308 | void UART1_ProcessRxData(void) |
323 | void UART1_ProcessRxData(void) |
| 309 | { |
324 | { |
| 310 | SerialMsg_t SerialMsg; |
325 | SerialMsg_t SerialMsg; |
| 311 | // if data in the rxd buffer are not locked immediately return |
326 | // if data in the rxd buffer are not locked immediately return |
| 312 | if((UART1_rx_buffer.Locked == FALSE) || (DebugUART != UART1) ) return; |
327 | if((UART1_rx_buffer.Locked == FALSE) || (DebugUART != UART1) ) return; |
| 313 | Waypoint_t * pWaypoint = NULL; |
328 | Waypoint_t * pWaypoint = NULL; |
| 314 | 329 | ||
| 315 | MKProtocol_DecodeSerialFrame(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
330 | MKProtocol_DecodeSerialFrame(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
| 316 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
331 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
| 317 | switch(SerialMsg.Address) // check for Slave Address |
332 | switch(SerialMsg.Address) // check for Slave Address |
| 318 | { |
333 | { |
| 319 | case NC_ADDRESS: // own Slave Address |
334 | case NC_ADDRESS: // own Slave Address |
| 320 | switch(SerialMsg.CmdID) |
335 | switch(SerialMsg.CmdID) |
| 321 | { |
336 | { |
| 322 | case 'z': // connection checker |
337 | case 'z': // connection checker |
| 323 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
338 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
| 324 | UART1_Request_Echo = TRUE; |
339 | UART1_Request_Echo = TRUE; |
| 325 | break; |
340 | break; |
| 326 | 341 | ||
| 327 | case 'e': // request for the text of the error status |
342 | case 'e': // request for the text of the error status |
| 328 | UART1_Request_ErrorMessage = TRUE; |
343 | UART1_Request_ErrorMessage = TRUE; |
| 329 | break; |
344 | break; |
| 330 | 345 | ||
| 331 | case 's':// new target position |
346 | case 's':// new target position |
| 332 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
347 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
| 333 | BeepTime = 300; |
348 | BeepTime = 300; |
| 334 | if(pWaypoint->Position.Status == NEWDATA) |
349 | if(pWaypoint->Position.Status == NEWDATA) |
| 335 | { |
350 | { |
| 336 | WPList_Clear(); // empty WPList |
351 | WPList_Clear(); // empty WPList |
| 337 | WPList_Append(pWaypoint); |
352 | WPList_Append(pWaypoint); |
| 338 | GPS_pWaypoint = WPList_Begin(); |
353 | GPS_pWaypoint = WPList_Begin(); |
| 339 | } |
354 | } |
| 340 | break; |
355 | break; |
| 341 | 356 | ||
| 342 | case 'u': // redirect debug uart |
357 | case 'u': // redirect debug uart |
| 343 | switch(SerialMsg.pData[0]) |
358 | switch(SerialMsg.pData[0]) |
| 344 | { |
359 | { |
| 345 | case UART_FLIGHTCTRL: |
360 | case UART_FLIGHTCTRL: |
| 346 | UART2_Init(); // initialize UART2 to FC pins |
361 | UART2_Init(); // initialize UART2 to FC pins |
| 347 | DebugUART = UART2; |
362 | DebugUART = UART2; |
| 348 | break; |
363 | break; |
| 349 | case UART_MK3MAG: |
364 | case UART_MK3MAG: |
| 350 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
365 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
| 351 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
366 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
| 352 | GPSData.Status = INVALID; |
367 | GPSData.Status = INVALID; |
| 353 | DebugUART = UART0; |
368 | DebugUART = UART0; |
| 354 | break; |
369 | break; |
| 355 | case UART_MKGPS: |
370 | case UART_MKGPS: |
| 356 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
371 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
| - | 372 | TIMER2_Deinit(); |
|
| - | 373 | Analog_Deinit(); |
|
| 357 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
374 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
| 358 | GPSData.Status = INVALID; |
375 | GPSData.Status = INVALID; |
| 359 | DebugUART = UART0; |
376 | DebugUART = UART0; |
| 360 | break; |
377 | break; |
| 361 | } |
378 | } |
| 362 | break; |
379 | break; |
| 363 | 380 | ||
| 364 | case 'w':// Append Waypoint to List |
381 | case 'w':// Append Waypoint to List |
| 365 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
382 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
| 366 | if(pWaypoint->Position.Status == INVALID) |
383 | if(pWaypoint->Position.Status == INVALID) |
| 367 | { // clear WP List |
384 | { // clear WP List |
| 368 | WPList_Clear(); |
385 | WPList_Clear(); |
| 369 | GPS_pWaypoint = WPList_Begin(); |
386 | GPS_pWaypoint = WPList_Begin(); |
| 370 | //UART1_PutString("\r\nClear WP List\r\n"); |
387 | //UART1_PutString("\r\nClear WP List\r\n"); |
| 371 | } |
388 | } |
| 372 | else if (pWaypoint->Position.Status == NEWDATA) |
389 | else if (pWaypoint->Position.Status == NEWDATA) |
| 373 | { // app current WP to the list |
390 | { // app current WP to the list |
| 374 | WPList_Append(pWaypoint); |
391 | WPList_Append(pWaypoint); |
| 375 | BeepTime = 500; |
392 | BeepTime = 500; |
| 376 | //UART1_PutString("\r\nAdd WP to List\r\n"); |
393 | //UART1_PutString("\r\nAdd WP to List\r\n"); |
| 377 | } |
394 | } |
| 378 | UART1_Request_NewWaypoint = TRUE; |
395 | UART1_Request_NewWaypoint = TRUE; |
| 379 | break; |
396 | break; |
| 380 | 397 | ||
| 381 | case 'x':// Read Waypoint from List |
398 | case 'x':// Read Waypoint from List |
| 382 | UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
399 | UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
| 383 | break; |
400 | break; |
| 384 | 401 | ||
| 385 | default: |
402 | default: |
| 386 | // unsupported command recieved |
403 | // unsupported command recieved |
| 387 | break; |
404 | break; |
| 388 | } // case NC_ADDRESS |
405 | } // case NC_ADDRESS |
| 389 | // "break;" is missing here to fall thru to the common commands |
406 | // "break;" is missing here to fall thru to the common commands |
| 390 | 407 | ||
| 391 | default: // and any other Slave Address |
408 | default: // and any other Slave Address |
| 392 | 409 | ||
| 393 | switch(SerialMsg.CmdID) // check CmdID |
410 | switch(SerialMsg.CmdID) // check CmdID |
| 394 | { |
411 | { |
| 395 | case 'a':// request for the labels of the analog debug outputs |
412 | case 'a':// request for the labels of the analog debug outputs |
| 396 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
413 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
| 397 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
414 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
| 398 | break; |
415 | break; |
| 399 | 416 | ||
| 400 | case 'b': // submit extern control |
417 | case 'b': // submit extern control |
| 401 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
418 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
| 402 | UART1_ConfirmFrame = ExternControl.Frame; |
419 | UART1_ConfirmFrame = ExternControl.Frame; |
| 403 | break; |
420 | break; |
| 404 | 421 | ||
| 405 | case 'd': // request for debug data; |
422 | case 'd': // request for debug data; |
| 406 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
423 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
| 407 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
424 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
| 408 | break; |
425 | break; |
| 409 | 426 | ||
| 410 | case 'c': // request for 3D data; |
427 | case 'c': // request for 3D data; |
| 411 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
428 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
| 412 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
429 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
| 413 | break; |
430 | break; |
| 414 | 431 | ||
| 415 | case 'g':// request for external control data |
432 | case 'g':// request for external control data |
| 416 | UART1_Request_ExternalControl = TRUE; |
433 | UART1_Request_ExternalControl = TRUE; |
| 417 | break; |
434 | break; |
| 418 | 435 | ||
| 419 | case 'h':// reqest for display line |
436 | case 'h':// reqest for display line |
| 420 | RemoteKeys |= SerialMsg.pData[0]; |
437 | RemoteKeys |= SerialMsg.pData[0]; |
| 421 | if(RemoteKeys != 0) UART1_DisplayLine = 0; |
438 | if(RemoteKeys != 0) UART1_DisplayLine = 0; |
| 422 | UART1_Request_Display = TRUE; |
439 | UART1_Request_Display = TRUE; |
| 423 | break; |
440 | break; |
| 424 | 441 | ||
| 425 | case 'l':// reqest for display columns |
442 | case 'l':// reqest for display columns |
| 426 | MenuItem = SerialMsg.pData[0]; |
443 | MenuItem = SerialMsg.pData[0]; |
| 427 | UART1_Request_Display1 = TRUE; |
444 | UART1_Request_Display1 = TRUE; |
| 428 | break; |
445 | break; |
| 429 | 446 | ||
| 430 | case 'o': // request for navigation information |
447 | case 'o': // request for navigation information |
| 431 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
448 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
| 432 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
449 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
| 433 | break; |
450 | break; |
| 434 | 451 | ||
| 435 | case 'v': // request for version info |
452 | case 'v': // request for version info |
| 436 | UART1_Request_VersionInfo = TRUE; |
453 | UART1_Request_VersionInfo = TRUE; |
| 437 | break; |
454 | break; |
| 438 | default: |
455 | default: |
| 439 | // unsupported command recieved |
456 | // unsupported command recieved |
| 440 | break; |
457 | break; |
| 441 | } |
458 | } |
| 442 | break; // default: |
459 | break; // default: |
| 443 | } |
460 | } |
| 444 | Buffer_Clear(&UART1_rx_buffer); |
461 | Buffer_Clear(&UART1_rx_buffer); |
| 445 | } |
462 | } |
| 446 | 463 | ||
| 447 | 464 | ||
| 448 | /*****************************************************/ |
465 | /*****************************************************/ |
| 449 | /* Send a character */ |
466 | /* Send a character */ |
| 450 | /*****************************************************/ |
467 | /*****************************************************/ |
| 451 | s16 UART1_Putchar(char c) |
468 | s16 UART1_Putchar(char c) |
| 452 | { |
469 | { |
| 453 | if (c == '\n') UART1_Putchar('\r'); |
470 | if (c == '\n') UART1_Putchar('\r'); |
| 454 | // wait until txd fifo is not full |
471 | // wait until txd fifo is not full |
| 455 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
472 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
| 456 | // transmit byte |
473 | // transmit byte |
| 457 | UART_SendData(UART1, c); |
474 | UART_SendData(UART1, c); |
| 458 | return (0); |
475 | return (0); |
| 459 | } |
476 | } |
| 460 | 477 | ||
| 461 | /*****************************************************/ |
478 | /*****************************************************/ |
| 462 | /* Send a string to the debug uart */ |
479 | /* Send a string to the debug uart */ |
| 463 | /*****************************************************/ |
480 | /*****************************************************/ |
| 464 | void UART1_PutString(u8 *s) |
481 | void UART1_PutString(u8 *s) |
| 465 | { |
482 | { |
| 466 | if(s == NULL) return; |
483 | if(s == NULL) return; |
| 467 | while (*s != '\0' && DebugUART == UART1) |
484 | while (*s != '\0' && DebugUART == UART1) |
| 468 | { |
485 | { |
| 469 | UART1_Putchar(*s); |
486 | UART1_Putchar(*s); |
| 470 | s ++; |
487 | s ++; |
| 471 | } |
488 | } |
| 472 | } |
489 | } |
| 473 | 490 | ||
| 474 | 491 | ||
| 475 | /**************************************************************/ |
492 | /**************************************************************/ |
| 476 | /* Transmit tx buffer via debug uart */ |
493 | /* Transmit tx buffer via debug uart */ |
| 477 | /**************************************************************/ |
494 | /**************************************************************/ |
| 478 | void UART1_Transmit(void) |
495 | void UART1_Transmit(void) |
| 479 | { |
496 | { |
| 480 | u8 tmp_tx; |
497 | u8 tmp_tx; |
| 481 | if(DebugUART != UART1) return; |
498 | if(DebugUART != UART1) return; |
| 482 | // if something has to be send and the txd fifo is not full |
499 | // if something has to be send and the txd fifo is not full |
| 483 | if(UART1_tx_buffer.Locked == TRUE) |
500 | if(UART1_tx_buffer.Locked == TRUE) |
| 484 | { |
501 | { |
| 485 | // while there is some space in the tx fifo |
502 | // while there is some space in the tx fifo |
| 486 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
503 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
| 487 | { |
504 | { |
| 488 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
505 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
| 489 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
506 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
| 490 | // if terminating character or end of txd buffer reached |
507 | // if terminating character or end of txd buffer reached |
| 491 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
508 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
| 492 | { |
509 | { |
| 493 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
510 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
| 494 | break; // end while loop |
511 | break; // end while loop |
| 495 | } |
512 | } |
| 496 | } |
513 | } |
| 497 | } |
514 | } |
| 498 | } |
515 | } |
| 499 | 516 | ||
| 500 | /**************************************************************/ |
517 | /**************************************************************/ |
| 501 | /* Send the answers to incomming commands at the debug uart */ |
518 | /* Send the answers to incomming commands at the debug uart */ |
| 502 | /**************************************************************/ |
519 | /**************************************************************/ |
| 503 | void UART1_TransmitTxData(void) |
520 | void UART1_TransmitTxData(void) |
| 504 | { |
521 | { |
| 505 | if(DebugUART != UART1) return; |
522 | if(DebugUART != UART1) return; |
| 506 | UART1_Transmit(); // output pending bytes in tx buffer |
523 | UART1_Transmit(); // output pending bytes in tx buffer |
| 507 | if((UART1_tx_buffer.Locked == TRUE)) return; |
524 | if((UART1_tx_buffer.Locked == TRUE)) return; |
| 508 | 525 | ||
| 509 | if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
526 | if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
| 510 | { |
527 | { |
| 511 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
528 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
| 512 | Echo = 0; // reset echo value |
529 | Echo = 0; // reset echo value |
| 513 | UART1_Request_Echo = FALSE; |
530 | UART1_Request_Echo = FALSE; |
| 514 | } |
531 | } |
| 515 | if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
532 | if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
| 516 | { |
533 | { |
| 517 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
534 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
| 518 | UART1_Request_DebugLabel = 0xFF; |
535 | UART1_Request_DebugLabel = 0xFF; |
| 519 | } |
536 | } |
| 520 | if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
537 | if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
| 521 | { |
538 | { |
| 522 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
539 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
| 523 | UART1_ConfirmFrame = 0; |
540 | UART1_ConfirmFrame = 0; |
| 524 | } |
541 | } |
| 525 | if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
542 | if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
| 526 | { |
543 | { |
| 527 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
544 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
| 528 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
545 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
| 529 | UART1_Request_DebugData = FALSE; |
546 | UART1_Request_DebugData = FALSE; |
| 530 | } |
547 | } |
| 531 | 548 | ||
| 532 | if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
549 | if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
| 533 | { |
550 | { |
| 534 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
551 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
| 535 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
552 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
| 536 | UART1_Request_Data3D = FALSE; |
553 | UART1_Request_Data3D = FALSE; |
| 537 | } |
554 | } |
| 538 | 555 | ||
| 539 | if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
556 | if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
| 540 | { |
557 | { |
| 541 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
558 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
| 542 | UART1_Request_ExternalControl = FALSE; |
559 | UART1_Request_ExternalControl = FALSE; |
| 543 | } |
560 | } |
| 544 | if(UART1_Request_Display && (UART1_tx_buffer.Locked == FALSE)) |
561 | if(UART1_Request_Display && (UART1_tx_buffer.Locked == FALSE)) |
| 545 | { |
562 | { |
| 546 | LCD_PrintMenu(); |
563 | LCD_PrintMenu(); |
| 547 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&DisplayBuff[UART1_DisplayLine * 20], 20); |
564 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&DisplayBuff[UART1_DisplayLine * 20], 20); |
| 548 | UART1_DisplayLine++; |
565 | UART1_DisplayLine++; |
| 549 | if(UART1_DisplayLine >= 4) UART1_DisplayLine = 0; |
566 | if(UART1_DisplayLine >= 4) UART1_DisplayLine = 0; |
| 550 | UART1_Request_Display = FALSE; |
567 | UART1_Request_Display = FALSE; |
| 551 | } |
568 | } |
| 552 | if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
569 | if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
| 553 | { |
570 | { |
| 554 | LCD_PrintMenu(); |
571 | LCD_PrintMenu(); |
| 555 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
572 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
| 556 | UART1_Request_Display1 = FALSE; |
573 | UART1_Request_Display1 = FALSE; |
| 557 | } |
574 | } |
| 558 | if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
575 | if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
| 559 | { |
576 | { |
| 560 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
577 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
| 561 | UART1_Request_VersionInfo = FALSE; |
578 | UART1_Request_VersionInfo = FALSE; |
| 562 | } |
579 | } |
| 563 | if(( (UART1_NaviData_Interval && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
580 | if(( (UART1_NaviData_Interval && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
| 564 | { |
581 | { |
| 565 | NaviData.Errorcode = ErrorCode; |
582 | NaviData.Errorcode = ErrorCode; |
| 566 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
583 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
| 567 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
584 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
| 568 | UART1_Request_NaviData = FALSE; |
585 | UART1_Request_NaviData = FALSE; |
| 569 | } |
586 | } |
| 570 | if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
587 | if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
| 571 | { |
588 | { |
| 572 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
589 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
| 573 | UART1_Request_ErrorMessage = FALSE; |
590 | UART1_Request_ErrorMessage = FALSE; |
| 574 | } |
591 | } |
| 575 | if(UART1_Request_SendFollowMe && (UART1_tx_buffer.Locked == FALSE) && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
592 | if(UART1_Request_SendFollowMe && (UART1_tx_buffer.Locked == FALSE) && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
| 576 | { |
593 | { |
| 577 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
594 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
| 578 | FollowMe.Position.Status = NEWDATA; |
595 | FollowMe.Position.Status = NEWDATA; |
| 579 | FollowMe.Heading = -1; |
596 | FollowMe.Heading = -1; |
| 580 | FollowMe.ToleranceRadius = 1; |
597 | FollowMe.ToleranceRadius = 1; |
| 581 | FollowMe.HoldTime = 60; |
598 | FollowMe.HoldTime = 60; |
| 582 | FollowMe.Event_Flag = 0; |
599 | FollowMe.Event_Flag = 0; |
| 583 | FollowMe.reserve[0] = 0; // reserve |
600 | FollowMe.reserve[0] = 0; // reserve |
| 584 | FollowMe.reserve[1] = 0; // reserve |
601 | FollowMe.reserve[1] = 0; // reserve |
| 585 | FollowMe.reserve[2] = 0; // reserve |
602 | FollowMe.reserve[2] = 0; // reserve |
| 586 | FollowMe.reserve[3] = 0; // reserve |
603 | FollowMe.reserve[3] = 0; // reserve |
| 587 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
604 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
| 588 | UART1_Request_SendFollowMe = FALSE; |
605 | UART1_Request_SendFollowMe = FALSE; |
| 589 | } |
606 | } |
| 590 | if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE)) |
607 | if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE)) |
| 591 | { |
608 | { |
| 592 | u8 WPNumber = WPList_GetCount(); |
609 | u8 WPNumber = WPList_GetCount(); |
| 593 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
610 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
| 594 | UART1_Request_NewWaypoint = FALSE; |
611 | UART1_Request_NewWaypoint = FALSE; |
| 595 | } |
612 | } |
| 596 | if((UART1_Request_ReadWaypoint != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
613 | if((UART1_Request_ReadWaypoint != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
| 597 | { |
614 | { |
| 598 | u8 WPNumber = WPList_GetCount(); |
615 | u8 WPNumber = WPList_GetCount(); |
| 599 | if (UART1_Request_ReadWaypoint < WPNumber) |
616 | if (UART1_Request_ReadWaypoint < WPNumber) |
| 600 | { |
617 | { |
| 601 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &UART1_Request_ReadWaypoint, 1, WPList_GetAt(UART1_Request_ReadWaypoint), sizeof(Waypoint_t)); |
618 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &UART1_Request_ReadWaypoint, 1, WPList_GetAt(UART1_Request_ReadWaypoint), sizeof(Waypoint_t)); |
| 602 | } |
619 | } |
| 603 | else |
620 | else |
| 604 | { |
621 | { |
| 605 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
622 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
| 606 | } |
623 | } |
| 607 | UART1_Request_ReadWaypoint = 0xFF; |
624 | UART1_Request_ReadWaypoint = 0xFF; |
| 608 | } |
625 | } |
| 609 | UART1_Transmit(); // output pending bytes in tx buffer |
626 | UART1_Transmit(); // output pending bytes in tx buffer |
| 610 | } |
627 | } |
| 611 | 628 | ||
| 612 | 629 | ||