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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | #include <stdio.h> |
56 | #include <stdio.h> |
57 | #include <stdlib.h> |
57 | #include <stdlib.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 "main.h" |
62 | #include "main.h" |
63 | #include "config.h" |
63 | #include "config.h" |
64 | #include "menu.h" |
64 | #include "menu.h" |
65 | #include "GPS.h" |
65 | #include "GPS.h" |
66 | #include "i2c0.h" |
66 | #include "i2c0.h" |
67 | #include "i2c1.h" |
67 | #include "i2c1.h" |
68 | #include "uart0.h" |
68 | #include "uart0.h" |
69 | #include "uart1.h" |
69 | #include "uart1.h" |
70 | #include "uart2.h" |
70 | #include "uart2.h" |
71 | #include "timer1.h" |
71 | #include "timer1.h" |
72 | #include "timer2.h" |
72 | #include "timer2.h" |
73 | #include "analog.h" |
73 | #include "analog.h" |
74 | #include "compass.h" |
74 | #include "compass.h" |
75 | #include "waypoints.h" |
75 | #include "waypoints.h" |
76 | #include "mkprotocol.h" |
76 | #include "mkprotocol.h" |
77 | #include "params.h" |
77 | #include "params.h" |
78 | #include "fifo.h" |
78 | #include "fifo.h" |
79 | #include "debug.h" |
79 | #include "debug.h" |
80 | #include "spi_slave.h" |
80 | #include "spi_slave.h" |
81 | #include "ftphelper.h" |
81 | #include "ftphelper.h" |
82 | #include "led.h" |
82 | #include "led.h" |
83 | #include "fat16.h" |
83 | #include "fat16.h" |
84 | 84 | ||
85 | 85 | ||
86 | #define FALSE 0 |
86 | #define FALSE 0 |
87 | #define TRUE 1 |
87 | #define TRUE 1 |
88 | 88 | ||
89 | #define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
89 | #define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
90 | u32 UART1_AboTimeOut = 0; |
90 | u32 UART1_AboTimeOut = 0; |
91 | 91 | ||
92 | u8 UART1_Request_VersionInfo = FALSE; |
92 | u8 UART1_Request_VersionInfo = FALSE; |
93 | u8 UART1_Request_ExternalControl= FALSE; |
93 | u8 UART1_Request_ExternalControl= FALSE; |
94 | u8 UART1_Request_Display = FALSE; |
94 | u8 UART1_Request_Display = FALSE; |
95 | u8 UART1_Request_Display1 = FALSE; |
95 | u8 UART1_Request_Display1 = FALSE; |
96 | u8 UART1_Request_DebugData = FALSE; |
96 | u8 UART1_Request_DebugData = FALSE; |
97 | u8 UART1_Request_DebugLabel = 255; |
97 | u8 UART1_Request_DebugLabel = 255; |
98 | u8 UART1_Request_NaviData = FALSE; |
98 | u8 UART1_Request_NaviData = FALSE; |
99 | u8 UART1_Request_ErrorMessage = FALSE; |
99 | u8 UART1_Request_ErrorMessage = FALSE; |
100 | u8 UART1_Request_WritePoint = 0xFF; |
100 | u8 UART1_Request_WritePoint = 0xFF; |
101 | u8 UART1_Request_ReadPoint = 0; |
101 | u8 UART1_Request_ReadPoint = 0; |
102 | u8 UART1_Request_Data3D = FALSE; |
102 | u8 UART1_Request_Data3D = FALSE; |
103 | u8 UART1_Request_MotorData = FALSE; |
103 | u8 UART1_Request_MotorData = FALSE; |
104 | u8 UART1_Request_Echo = FALSE; |
104 | u8 UART1_Request_Echo = FALSE; |
105 | u8 UART1_Request_ParameterId = 0; |
105 | u8 UART1_Request_ParameterId = 0; |
106 | u8 UART1_Request_Parameter = FALSE; |
106 | u8 UART1_Request_Parameter = FALSE; |
107 | u8 UART1_Request_SystemTime = FALSE; |
107 | u8 UART1_Request_SystemTime = FALSE; |
108 | u8 UART1_DisplayKeys = 0; |
108 | u8 UART1_DisplayKeys = 0; |
109 | u8 UART1_DisplayLine = 0; |
109 | u8 UART1_DisplayLine = 0; |
110 | u8 UART1_ConfirmFrame = 0; |
110 | u8 UART1_ConfirmFrame = 0; |
111 | u8 UART1_Request_FTP = FALSE; |
111 | u8 UART1_Request_FTP = FALSE; |
112 | u8 LastTransmittedFCStatusFlags2 = 0; |
112 | u8 LastTransmittedFCStatusFlags2 = 0; |
113 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
113 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
114 | u8 Send_NMEA_RMC = FALSE; |
114 | u8 Send_NMEA_RMC = FALSE; |
115 | 115 | ||
116 | UART_TypeDef *DebugUART = UART1; |
116 | UART_TypeDef *DebugUART = UART1; |
117 | 117 | ||
118 | #ifdef FOLLOW_ME |
118 | #ifdef FOLLOW_ME |
119 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
119 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
120 | u32 UART1_FollowMe_Timer = 0; |
120 | u32 UART1_FollowMe_Timer = 0; |
121 | Point_t FollowMe; |
121 | Point_t FollowMe; |
122 | #endif |
122 | #endif |
123 | 123 | ||
124 | // the primary rx fifo |
124 | // the primary rx fifo |
125 | #define UART1_RX_FIFO_LEN 1024 |
125 | #define UART1_RX_FIFO_LEN 1024 |
126 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
126 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
127 | fifo_t UART1_rx_fifo; |
127 | fifo_t UART1_rx_fifo; |
128 | 128 | ||
129 | // the rx buffer |
129 | // the rx buffer |
130 | #define UART1_RX_BUFFER_LEN 1024 |
130 | #define UART1_RX_BUFFER_LEN 1024 |
131 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
131 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
132 | Buffer_t UART1_rx_buffer; |
132 | Buffer_t UART1_rx_buffer; |
133 | 133 | ||
134 | // the tx buffer |
134 | // the tx buffer |
135 | #define UART1_TX_BUFFER_LEN 1024 |
135 | #define UART1_TX_BUFFER_LEN 1024 |
136 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
136 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
137 | Buffer_t UART1_tx_buffer; |
137 | Buffer_t UART1_tx_buffer; |
138 | 138 | ||
139 | volatile u8 SerialLinkOkay = 0; |
139 | volatile u8 SerialLinkOkay = 0; |
140 | 140 | ||
141 | u8 text[200]; |
141 | u8 text[200]; |
142 | 142 | ||
143 | const u8 ANALOG_LABEL[32][16] = |
143 | const u8 ANALOG_LABEL[32][16] = |
144 | { |
144 | { |
145 | //1234567890123456 |
145 | //1234567890123456 |
146 | "AngleNick ", //0 |
146 | "AngleNick ", //0 |
147 | "AngleRoll ", |
147 | "AngleRoll ", |
148 | "AccNick ", |
148 | "AccNick ", |
149 | "AccRoll ", |
149 | "AccRoll ", |
150 | "OperatingRadius ", |
150 | "OperatingRadius ", |
151 | "FC-Flags ", //5 |
151 | "FC-Flags ", //5 |
152 | "NC-Flags ", |
152 | "NC-Flags ", |
153 | "Voltage [0,1V] ", |
153 | "Voltage [0,1V] ", |
154 | "Current [0,1A] ", |
154 | "Current [0,1A] ", |
155 | "GPS Data ", |
155 | "GPS Data ", |
156 | "CompassHeading ", //10 |
156 | "CompassHeading ", //10 |
157 | "GyroHeading ", |
157 | "GyroHeading ", |
158 | "SPI Error ", // achtung: muss auf 12 bleiben |
158 | "SPI Error ", // achtung: muss auf 12 bleiben |
159 | "SPI Okay ", |
159 | "SPI Okay ", |
160 | "I2C Error ", |
160 | "I2C Error ", |
161 | "I2C Okay ", //15 |
161 | "I2C Okay ", //15 |
162 | "16 ", |
162 | "16 ", |
163 | "17 ", |
163 | "17 ", |
164 | "18 ", |
164 | "18 ", |
165 | "19 ", // SD-Card-time |
165 | "19 ", // SD-Card-time |
166 | "EarthMagnet [%] ", //20 |
166 | "EarthMagnet [%] ", //20 |
167 | "Ground Speed ", // "Z_Speed ", |
167 | "Ground Speed ", // "Z_Speed ", |
168 | "N_Speed ", |
168 | "N_Speed ", |
169 | "E_Speed ", |
169 | "E_Speed ", |
170 | "Magnet X ", |
170 | "Magnet X ", |
171 | "Magnet Y ", //25 |
171 | "Magnet Y ", //25 |
172 | "Magnet Z ", |
172 | "Magnet Z ", |
173 | "Distance N ", |
173 | "Distance N ", |
174 | "Distance E ", |
174 | "Distance E ", |
175 | "GPS_Nick ", |
175 | "GPS_Nick ", |
176 | "GPS_Roll ", //30 |
176 | "GPS_Roll ", //30 |
177 | "Used_Sats " |
177 | "Used_Sats " |
178 | }; |
178 | }; |
179 | 179 | ||
180 | DebugOut_t DebugOut; |
180 | DebugOut_t DebugOut; |
181 | ExternControl_t ExternControl; |
181 | ExternControl_t ExternControl; |
182 | UART_VersionInfo_t UART_VersionInfo; |
182 | UART_VersionInfo_t UART_VersionInfo; |
183 | NaviData_t NaviData; |
183 | NaviData_t NaviData; |
184 | Data3D_t Data3D; |
184 | Data3D_t Data3D; |
185 | u16 Echo; // 2 bytes recieved will be sent back as echo |
185 | u16 Echo; // 2 bytes recieved will be sent back as echo |
186 | 186 | ||
187 | u32 UART1_DebugData_Timer = 0; |
187 | u32 UART1_DebugData_Timer = 0; |
188 | u32 UART1_DebugData_Interval = 0; // in ms |
188 | u32 UART1_DebugData_Interval = 0; // in ms |
189 | u32 UART1_NaviData_Timer = 0; |
189 | u32 UART1_NaviData_Timer = 0; |
190 | u32 UART1_NaviData_Interval = 0; // in ms |
190 | u32 UART1_NaviData_Interval = 0; // in ms |
191 | u32 UART1_Data3D_Timer = 0; |
191 | u32 UART1_Data3D_Timer = 0; |
192 | u32 UART1_Data3D_Interval = 0; // in ms |
192 | u32 UART1_Data3D_Interval = 0; // in ms |
193 | u32 UART1_MotorData_Timer = 0; |
193 | u32 UART1_MotorData_Timer = 0; |
194 | u32 UART1_MotorData_Interval = 0; // in ms |
194 | u32 UART1_MotorData_Interval = 0; // in ms |
195 | u32 UART1_Display_Timer = 0; |
195 | u32 UART1_Display_Timer = 0; |
196 | u32 UART1_Display_Interval = 0; // in ms |
196 | u32 UART1_Display_Interval = 0; // in ms |
197 | u32 NMEA_Timer = 0; |
197 | u32 NMEA_Timer = 0; |
198 | u32 NMEA_Interval = 500;// in ms |
198 | u32 NMEA_Interval = 500;// in ms |
199 | 199 | ||
200 | /********************************************************/ |
200 | /********************************************************/ |
201 | /* Initialization the UART1 */ |
201 | /* Initialization the UART1 */ |
202 | /********************************************************/ |
202 | /********************************************************/ |
203 | void UART1_Init (void) |
203 | void UART1_Init (void) |
204 | { |
204 | { |
205 | GPIO_InitTypeDef GPIO_InitStructure; |
205 | GPIO_InitTypeDef GPIO_InitStructure; |
206 | UART_InitTypeDef UART_InitStructure; |
206 | UART_InitTypeDef UART_InitStructure; |
207 | 207 | ||
208 | // initialize txd buffer |
208 | // initialize txd buffer |
209 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
209 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
210 | 210 | ||
211 | // initialize rxd buffer |
211 | // initialize rxd buffer |
212 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
212 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
213 | 213 | ||
214 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
214 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
215 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
215 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
216 | 216 | ||
217 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
217 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
218 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
218 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
219 | 219 | ||
220 | /*Configure UART1_Rx pin GPIO3.2*/ |
220 | /*Configure UART1_Rx pin GPIO3.2*/ |
221 | GPIO_StructInit(&GPIO_InitStructure); |
221 | GPIO_StructInit(&GPIO_InitStructure); |
222 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
222 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
223 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
223 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
224 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
224 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
225 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
225 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
226 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
226 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
227 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
227 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
228 | 228 | ||
229 | /*Configure UART1_Tx pin GPIO3.3*/ |
229 | /*Configure UART1_Tx pin GPIO3.3*/ |
230 | GPIO_StructInit(&GPIO_InitStructure); |
230 | GPIO_StructInit(&GPIO_InitStructure); |
231 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
231 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
232 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
232 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
233 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
233 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
234 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
234 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
235 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
235 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
236 | 236 | ||
237 | /* UART1 configured as follow: |
237 | /* UART1 configured as follow: |
238 | - Word Length = 8 Bits |
238 | - Word Length = 8 Bits |
239 | - One Stop Bit |
239 | - One Stop Bit |
240 | - No parity |
240 | - No parity |
241 | - BaudRate = 57600 baud |
241 | - BaudRate = 57600 baud |
242 | - Hardware flow control Disabled |
242 | - Hardware flow control Disabled |
243 | - Receive and transmit enabled |
243 | - Receive and transmit enabled |
244 | - Receive and transmit FIFOs are Disabled |
244 | - Receive and transmit FIFOs are Disabled |
245 | */ |
245 | */ |
246 | UART_StructInit(&UART_InitStructure); |
246 | UART_StructInit(&UART_InitStructure); |
247 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
247 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
248 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
248 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
249 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
249 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
250 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
250 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
251 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
251 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
252 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
252 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
253 | // UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
253 | // UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
254 | UART_InitStructure.UART_FIFO = UART_FIFO_Disable; |
254 | UART_InitStructure.UART_FIFO = UART_FIFO_Disable; |
255 | // UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
255 | // UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
256 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_8; // FIFO size 16 bytes, FIFO level 2 bytes |
256 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_8; // FIFO size 16 bytes, FIFO level 2 bytes |
257 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
257 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
258 | 258 | ||
259 | UART_DeInit(UART1); // reset uart 1 to default |
259 | UART_DeInit(UART1); // reset uart 1 to default |
260 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
260 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
261 | // enable uart 1 interrupts selective |
261 | // enable uart 1 interrupts selective |
262 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
262 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
263 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
263 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
264 | // configure the uart 1 interupt line |
264 | // configure the uart 1 interupt line |
265 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
265 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
266 | // enable the uart 1 IRQ |
266 | // enable the uart 1 IRQ |
267 | VIC_ITCmd(UART1_ITLine, ENABLE); |
267 | VIC_ITCmd(UART1_ITLine, ENABLE); |
268 | 268 | ||
269 | // initialize the debug timer |
269 | // initialize the debug timer |
270 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
270 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
271 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
271 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
272 | NMEA_Timer = SetDelay(14000); |
272 | NMEA_Timer = SetDelay(14000); |
273 | 273 | ||
274 | // Fill Version Info Structure |
274 | // Fill Version Info Structure |
275 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
275 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
276 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
276 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
277 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
277 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
278 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
278 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
279 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
279 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
280 | UART_VersionInfo.HWMajor = Version_HW; |
280 | UART_VersionInfo.HWMajor = Version_HW & 0x7f; |
281 | UART_VersionInfo.reserved2 = 0; |
281 | UART_VersionInfo.reserved2 = 0; |
282 | UART_VersionInfo.Flags = 0; |
282 | UART_VersionInfo.Flags = 0; |
283 | NaviData.Version = NAVIDATA_VERSION; |
283 | NaviData.Version = NAVIDATA_VERSION; |
284 | 284 | ||
285 | UART1_PutString("\r\n UART1 init...ok"); |
285 | UART1_PutString("\r\n UART1 init...ok"); |
286 | } |
286 | } |
287 | 287 | ||
288 | 288 | ||
289 | /****************************************************************/ |
289 | /****************************************************************/ |
290 | /* USART1 receiver ISR */ |
290 | /* USART1 receiver ISR */ |
291 | /****************************************************************/ |
291 | /****************************************************************/ |
292 | void UART1_IRQHandler(void) |
292 | void UART1_IRQHandler(void) |
293 | { |
293 | { |
294 | static u8 abortState = 0; |
294 | static u8 abortState = 0; |
295 | u8 c; |
295 | u8 c; |
296 | 296 | ||
297 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
297 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
298 | { |
298 | { |
299 | // clear the pending bits! |
299 | // clear the pending bits! |
300 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
300 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
301 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
301 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
302 | // if debug UART is not UART1 |
302 | // if debug UART is not UART1 |
303 | if (DebugUART != UART1) |
303 | if (DebugUART != UART1) |
304 | { // forward received data to the debug UART tx buffer |
304 | { // forward received data to the debug UART tx buffer |
305 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
305 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
306 | { |
306 | { |
307 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
307 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
308 | c = UART_ReceiveData(UART1); |
308 | c = UART_ReceiveData(UART1); |
309 | 309 | ||
310 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
310 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
311 | switch (abortState) |
311 | switch (abortState) |
312 | { |
312 | { |
313 | case 0: |
313 | case 0: |
314 | if (c == 27) abortState++; |
314 | if (c == 27) abortState++; |
315 | break; |
315 | break; |
316 | case 1: |
316 | case 1: |
317 | if (c == 27) abortState++; |
317 | if (c == 27) abortState++; |
318 | else abortState = 0; |
318 | else abortState = 0; |
319 | break; |
319 | break; |
320 | case 2: |
320 | case 2: |
321 | if (c == 0x55) abortState++; |
321 | if (c == 0x55) abortState++; |
322 | else abortState = 0; |
322 | else abortState = 0; |
323 | break; |
323 | break; |
324 | case 3: |
324 | case 3: |
325 | if (c == 0xAA) abortState++; |
325 | if (c == 0xAA) abortState++; |
326 | else abortState = 0; |
326 | else abortState = 0; |
327 | break; |
327 | break; |
328 | case 4: |
328 | case 4: |
329 | if (c == 0x00) |
329 | if (c == 0x00) |
330 | { |
330 | { |
331 | if(DebugUART == UART0) |
331 | if(DebugUART == UART0) |
332 | { |
332 | { |
333 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
333 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
334 | TIMER2_Init(); // enbable servo outputs |
334 | TIMER2_Init(); // enbable servo outputs |
335 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
335 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
336 | } |
336 | } |
337 | DebugUART = UART1; |
337 | DebugUART = UART1; |
338 | } |
338 | } |
339 | abortState = 0; |
339 | abortState = 0; |
340 | break; |
340 | break; |
341 | } // end switch abort state |
341 | } // end switch abort state |
342 | // if the Debug uart is not UART1, redirect input to the Debug UART |
342 | // if the Debug uart is not UART1, redirect input to the Debug UART |
343 | if (DebugUART != UART1) |
343 | if (DebugUART != UART1) |
344 | { |
344 | { |
345 | // wait for space in the tx buffer of the DebugUART |
345 | // wait for space in the tx buffer of the DebugUART |
346 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
346 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
347 | // move byte to the tx fifo of the debug uart |
347 | // move byte to the tx fifo of the debug uart |
348 | UART_SendData(DebugUART, c); |
348 | UART_SendData(DebugUART, c); |
349 | } |
349 | } |
350 | } |
350 | } |
351 | } |
351 | } |
352 | else // DebugUART == UART1 (normal operation) |
352 | else // DebugUART == UART1 (normal operation) |
353 | { |
353 | { |
354 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
354 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
355 | { // some byes in the hardware fifo |
355 | { // some byes in the hardware fifo |
356 | // get byte from hardware fifo |
356 | // get byte from hardware fifo |
357 | c = UART_ReceiveData(UART1); |
357 | c = UART_ReceiveData(UART1); |
358 | // put into the software fifo |
358 | // put into the software fifo |
359 | if(!fifo_put(&UART1_rx_fifo, c)) |
359 | if(!fifo_put(&UART1_rx_fifo, c)) |
360 | { // fifo overflow |
360 | { // fifo overflow |
361 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
361 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
362 | } |
362 | } |
363 | } // EOF while some byes in the hardware fifo |
363 | } // EOF while some byes in the hardware fifo |
364 | } // eof DebugUart = UART1 |
364 | } // eof DebugUart = UART1 |
365 | } |
365 | } |
366 | 366 | ||
367 | 367 | ||
368 | 368 | ||
369 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
369 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
370 | } |
370 | } |
371 | 371 | ||
372 | /**************************************************************/ |
372 | /**************************************************************/ |
373 | /* Process incomming data from debug uart */ |
373 | /* Process incomming data from debug uart */ |
374 | /**************************************************************/ |
374 | /**************************************************************/ |
375 | void UART1_ProcessRxData(void) |
375 | void UART1_ProcessRxData(void) |
376 | { |
376 | { |
377 | // return on forwarding uart or unlocked rx buffer |
377 | // return on forwarding uart or unlocked rx buffer |
378 | u8 c; |
378 | u8 c; |
379 | if(DebugUART != UART1) return; |
379 | if(DebugUART != UART1) return; |
380 | // if rx buffer is not locked |
380 | // if rx buffer is not locked |
381 | if(UART1_rx_buffer.Locked == FALSE) |
381 | if(UART1_rx_buffer.Locked == FALSE) |
382 | { |
382 | { |
383 | //collect data from primary rx fifo |
383 | //collect data from primary rx fifo |
384 | while(fifo_get(&UART1_rx_fifo, &c)) |
384 | while(fifo_get(&UART1_rx_fifo, &c)) |
385 | { |
385 | { |
386 | // break if complete frame is collected |
386 | // break if complete frame is collected |
387 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
387 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
388 | } |
388 | } |
389 | } |
389 | } |
390 | if(UART1_rx_buffer.Locked == FALSE) return; |
390 | if(UART1_rx_buffer.Locked == FALSE) return; |
391 | 391 | ||
392 | Point_t * pPoint = NULL; |
392 | Point_t * pPoint = NULL; |
393 | SerialMsg_t SerialMsg; |
393 | SerialMsg_t SerialMsg; |
394 | 394 | ||
395 | // analyze header first |
395 | // analyze header first |
396 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
396 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
397 | if( SerialMsg.Address == FC_ADDRESS ) |
397 | if( SerialMsg.Address == FC_ADDRESS ) |
398 | { |
398 | { |
399 | switch(SerialMsg.CmdID) |
399 | switch(SerialMsg.CmdID) |
400 | { |
400 | { |
401 | // case 'v': // version |
401 | // case 'v': // version |
402 | case 'b': // extern control |
402 | case 'b': // extern control |
403 | UART1_ExternalControlConfirmFrame = 1; |
403 | UART1_ExternalControlConfirmFrame = 1; |
404 | case 'y': // serial poti values |
404 | case 'y': // serial poti values |
405 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
405 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
406 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
406 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
407 | return; //end process rx data |
407 | return; //end process rx data |
408 | break; |
408 | break; |
409 | } |
409 | } |
410 | } |
410 | } |
411 | 411 | ||
412 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
412 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
413 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
413 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
414 | switch(SerialMsg.Address) // check for Slave Address |
414 | switch(SerialMsg.Address) // check for Slave Address |
415 | { |
415 | { |
416 | case NC_ADDRESS: // own Slave Address |
416 | case NC_ADDRESS: // own Slave Address |
417 | switch(SerialMsg.CmdID) |
417 | switch(SerialMsg.CmdID) |
418 | { |
418 | { |
419 | case 't': // request for the GPS time |
419 | case 't': // request for the GPS time |
420 | UART1_Request_SystemTime = TRUE; |
420 | UART1_Request_SystemTime = TRUE; |
421 | break; |
421 | break; |
422 | 422 | ||
423 | case 'f': // ftp command |
423 | case 'f': // ftp command |
424 | UART1_Request_FTP = SerialMsg.pData[0]; |
424 | UART1_Request_FTP = SerialMsg.pData[0]; |
425 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
425 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
426 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
426 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
427 | break; |
427 | break; |
428 | 428 | ||
429 | case 'z': // connection checker |
429 | case 'z': // connection checker |
430 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
430 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
431 | UART1_Request_Echo = TRUE; |
431 | UART1_Request_Echo = TRUE; |
432 | break; |
432 | break; |
433 | 433 | ||
434 | case 'e': // request for the text of the error status |
434 | case 'e': // request for the text of the error status |
435 | UART1_Request_ErrorMessage = TRUE; |
435 | UART1_Request_ErrorMessage = TRUE; |
436 | break; |
436 | break; |
437 | 437 | ||
438 | case 's':// new target position |
438 | case 's':// new target position |
439 | pPoint = (Point_t*)SerialMsg.pData; |
439 | pPoint = (Point_t*)SerialMsg.pData; |
440 | if(pPoint->Position.Status == NEWDATA) |
440 | if(pPoint->Position.Status == NEWDATA) |
441 | { |
441 | { |
442 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
442 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
443 | //pPoint->Index = 1; // must be one after empty list |
443 | //pPoint->Index = 1; // must be one after empty list |
444 | PointList_SetAt(pPoint); |
444 | PointList_SetAt(pPoint); |
445 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
445 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
446 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
446 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
447 | if(GPS_pWaypoint != NULL) // if new WP exist |
447 | if(GPS_pWaypoint != NULL) // if new WP exist |
448 | { // update WP hold time stamp immediately! |
448 | { // update WP hold time stamp immediately! |
449 | EnableNewWpHeading(); |
449 | EnableNewWpHeading(); |
450 | /* if(GPS_pWaypoint->Heading > 0 && GPS_pWaypoint->Heading <= 360) |
450 | /* if(GPS_pWaypoint->Heading > 0 && GPS_pWaypoint->Heading <= 360) |
451 | { |
451 | { |
452 | CAM_Orientation.Azimuth = GPS_pWaypoint->Heading; |
452 | CAM_Orientation.Azimuth = GPS_pWaypoint->Heading; |
453 | CAM_Orientation.UpdateMask |= CAM_UPDATE_AZIMUTH; |
453 | CAM_Orientation.UpdateMask |= CAM_UPDATE_AZIMUTH; |
454 | } |
454 | } |
455 | */ |
455 | */ |
456 | } |
456 | } |
457 | BeepTime = 50; |
457 | BeepTime = 50; |
458 | } |
458 | } |
459 | break; |
459 | break; |
460 | 460 | ||
461 | case 'u': // redirect debug uart |
461 | case 'u': // redirect debug uart |
462 | switch(SerialMsg.pData[0]) |
462 | switch(SerialMsg.pData[0]) |
463 | { |
463 | { |
464 | case UART_FLIGHTCTRL: |
464 | case UART_FLIGHTCTRL: |
465 | UART2_Init(); // initialize UART2 to FC pins |
465 | UART2_Init(); // initialize UART2 to FC pins |
466 | fifo_purge(&UART1_rx_fifo); |
466 | fifo_purge(&UART1_rx_fifo); |
467 | TIMER2_Deinit(); // reduce irq load |
467 | TIMER2_Deinit(); // reduce irq load |
468 | DebugUART = UART2; |
468 | DebugUART = UART2; |
469 | break; |
469 | break; |
470 | case UART_MK3MAG: |
470 | case UART_MK3MAG: |
471 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
471 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
472 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
472 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
473 | GPSData.Status = INVALID; |
473 | GPSData.Status = INVALID; |
474 | fifo_purge(&UART1_rx_fifo); |
474 | fifo_purge(&UART1_rx_fifo); |
475 | DebugUART = UART0; |
475 | DebugUART = UART0; |
476 | break; |
476 | break; |
477 | case UART_MKGPS: |
477 | case UART_MKGPS: |
478 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
478 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
479 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
479 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
480 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
480 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
481 | GPSData.Status = INVALID; |
481 | GPSData.Status = INVALID; |
482 | fifo_purge(&UART1_rx_fifo); |
482 | fifo_purge(&UART1_rx_fifo); |
483 | DebugUART = UART0; |
483 | DebugUART = UART0; |
484 | break; |
484 | break; |
485 | default: |
485 | default: |
486 | break; |
486 | break; |
487 | } |
487 | } |
488 | break; |
488 | break; |
489 | 489 | ||
490 | case 'w':// Set point in list at index |
490 | case 'w':// Set point in list at index |
491 | { |
491 | { |
492 | pPoint = (Point_t*)SerialMsg.pData; |
492 | pPoint = (Point_t*)SerialMsg.pData; |
493 | 493 | ||
494 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
494 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
495 | { |
495 | { |
496 | PointList_Clear(); |
496 | PointList_Clear(); |
497 | GPS_pWaypoint = PointList_WPBegin(); |
497 | GPS_pWaypoint = PointList_WPBegin(); |
498 | UART1_Request_WritePoint = 0; // return new point count |
498 | UART1_Request_WritePoint = 0; // return new point count |
499 | } |
499 | } |
500 | else |
500 | else |
501 | { // update WP in list at index |
501 | { // update WP in list at index |
502 | if(pPoint->Index > MaxNumberOfWaypoints) |
502 | if(pPoint->Index > MaxNumberOfWaypoints) |
503 | { |
503 | { |
504 | UART1_Request_WritePoint = 254; |
504 | UART1_Request_WritePoint = 254; |
505 | pPoint->Index = MaxNumberOfWaypoints; |
505 | pPoint->Index = MaxNumberOfWaypoints; |
506 | } |
506 | } |
507 | else |
507 | else |
508 | UART1_Request_WritePoint = PointList_SetAt(pPoint); |
508 | UART1_Request_WritePoint = PointList_SetAt(pPoint); |
509 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
509 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
510 | if(UART1_Request_WritePoint == pPoint->Index) |
510 | if(UART1_Request_WritePoint == pPoint->Index) |
511 | { |
511 | { |
512 | BeepTime = 500; |
512 | BeepTime = 500; |
513 | } |
513 | } |
514 | } |
514 | } |
515 | } |
515 | } |
516 | break; |
516 | break; |
517 | 517 | ||
518 | case 'x':// Read Waypoint from List |
518 | case 'x':// Read Waypoint from List |
519 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
519 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
520 | break; |
520 | break; |
521 | 521 | ||
522 | case 'j':// Set/Get NC-Parameter |
522 | case 'j':// Set/Get NC-Parameter |
523 | switch(SerialMsg.pData[0]) |
523 | switch(SerialMsg.pData[0]) |
524 | { |
524 | { |
525 | case 0: // get |
525 | case 0: // get |
526 | break; |
526 | break; |
527 | 527 | ||
528 | case 1: // set |
528 | case 1: // set |
529 | { |
529 | { |
530 | s16 value; |
530 | s16 value; |
531 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
531 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
532 | NCParams_SetValue(SerialMsg.pData[1], &value); |
532 | NCParams_SetValue(SerialMsg.pData[1], &value); |
533 | } |
533 | } |
534 | break; |
534 | break; |
535 | 535 | ||
536 | default: |
536 | default: |
537 | break; |
537 | break; |
538 | } |
538 | } |
539 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
539 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
540 | UART1_Request_Parameter = TRUE; |
540 | UART1_Request_Parameter = TRUE; |
541 | break; |
541 | break; |
542 | default: |
542 | default: |
543 | // unsupported command recieved |
543 | // unsupported command recieved |
544 | break; |
544 | break; |
545 | } // case NC_ADDRESS |
545 | } // case NC_ADDRESS |
546 | // "break;" is missing here to fall thru to the common commands |
546 | // "break;" is missing here to fall thru to the common commands |
547 | 547 | ||
548 | default: // and any other Slave Address |
548 | default: // and any other Slave Address |
549 | 549 | ||
550 | switch(SerialMsg.CmdID) // check CmdID |
550 | switch(SerialMsg.CmdID) // check CmdID |
551 | { |
551 | { |
552 | case 'a':// request for the labels of the analog debug outputs |
552 | case 'a':// request for the labels of the analog debug outputs |
553 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
553 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
554 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
554 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
555 | break; |
555 | break; |
556 | /* |
556 | /* |
557 | case 'b': // submit extern control |
557 | case 'b': // submit extern control |
558 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
558 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
559 | UART1_ConfirmFrame = ExternControl.Frame; |
559 | UART1_ConfirmFrame = ExternControl.Frame; |
560 | break; |
560 | break; |
561 | */ |
561 | */ |
562 | case 'd': // request for debug data; |
562 | case 'd': // request for debug data; |
563 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
563 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
564 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
564 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
565 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
565 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
566 | break; |
566 | break; |
567 | 567 | ||
568 | case 'c': // request for 3D data; |
568 | case 'c': // request for 3D data; |
569 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
569 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
570 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
570 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
571 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
571 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
572 | break; |
572 | break; |
573 | 573 | ||
574 | case 'k': // request for Motor data; |
574 | case 'k': // request for Motor data; |
575 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
575 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
576 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
576 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
577 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
577 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
578 | break; |
578 | break; |
579 | 579 | ||
580 | case 'h':// reqest for display line |
580 | case 'h':// reqest for display line |
581 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
581 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
582 | { |
582 | { |
583 | UART1_DisplayLine = 2; |
583 | UART1_DisplayLine = 2; |
584 | UART1_Display_Interval = 0; |
584 | UART1_Display_Interval = 0; |
585 | } |
585 | } |
586 | else |
586 | else |
587 | { |
587 | { |
588 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
588 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
589 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
589 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
590 | UART1_DisplayLine = 4; |
590 | UART1_DisplayLine = 4; |
591 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
591 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
592 | } |
592 | } |
593 | UART1_Request_Display = TRUE; |
593 | UART1_Request_Display = TRUE; |
594 | break; |
594 | break; |
595 | 595 | ||
596 | case 'l':// reqest for display columns |
596 | case 'l':// reqest for display columns |
597 | MenuItem = SerialMsg.pData[0]; |
597 | MenuItem = SerialMsg.pData[0]; |
598 | UART1_Request_Display1 = TRUE; |
598 | UART1_Request_Display1 = TRUE; |
599 | break; |
599 | break; |
600 | 600 | ||
601 | case 'o': // request for navigation information |
601 | case 'o': // request for navigation information |
602 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
602 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
603 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
603 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
604 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
604 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
605 | break; |
605 | break; |
606 | 606 | ||
607 | case 'v': // request for version info |
607 | case 'v': // request for version info |
608 | UART1_Request_VersionInfo = TRUE; |
608 | UART1_Request_VersionInfo = TRUE; |
609 | break; |
609 | break; |
610 | default: |
610 | default: |
611 | // unsupported command recieved |
611 | // unsupported command recieved |
612 | break; |
612 | break; |
613 | } |
613 | } |
614 | break; // default: |
614 | break; // default: |
615 | } |
615 | } |
616 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
616 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
617 | } |
617 | } |
618 | 618 | ||
619 | 619 | ||
620 | /*****************************************************/ |
620 | /*****************************************************/ |
621 | /* Send a character */ |
621 | /* Send a character */ |
622 | /*****************************************************/ |
622 | /*****************************************************/ |
623 | s16 UART1_Putchar(char c) |
623 | s16 UART1_Putchar(char c) |
624 | { |
624 | { |
625 | u32 timeout = 10000; |
625 | u32 timeout = 10000; |
626 | if (c == '\n') UART1_Putchar('\r'); |
626 | if (c == '\n') UART1_Putchar('\r'); |
627 | // wait until txd fifo is not full |
627 | // wait until txd fifo is not full |
628 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
628 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
629 | // transmit byte |
629 | // transmit byte |
630 | UART_SendData(UART1, c); |
630 | UART_SendData(UART1, c); |
631 | #ifdef FOLLOW_ME |
631 | #ifdef FOLLOW_ME |
632 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
632 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
633 | #endif |
633 | #endif |
634 | return (0); |
634 | return (0); |
635 | } |
635 | } |
636 | 636 | ||
637 | /*****************************************************/ |
637 | /*****************************************************/ |
638 | /* Send a string to the debug uart */ |
638 | /* Send a string to the debug uart */ |
639 | /*****************************************************/ |
639 | /*****************************************************/ |
640 | void UART1_PutString(u8 *s) |
640 | void UART1_PutString(u8 *s) |
641 | { |
641 | { |
642 | if(s == NULL) return; |
642 | if(s == NULL) return; |
643 | while (*s != '\0' && DebugUART == UART1) |
643 | while (*s != '\0' && DebugUART == UART1) |
644 | { |
644 | { |
645 | UART1_Putchar(*s); |
645 | UART1_Putchar(*s); |
646 | s ++; |
646 | s ++; |
647 | } |
647 | } |
648 | } |
648 | } |
649 | 649 | ||
650 | 650 | ||
651 | /**************************************************************/ |
651 | /**************************************************************/ |
652 | /* Transmit tx buffer via debug uart */ |
652 | /* Transmit tx buffer via debug uart */ |
653 | /**************************************************************/ |
653 | /**************************************************************/ |
654 | void UART1_Transmit(void) |
654 | void UART1_Transmit(void) |
655 | { |
655 | { |
656 | u8 tmp_tx; |
656 | u8 tmp_tx; |
657 | if(DebugUART != UART1) return; |
657 | if(DebugUART != UART1) return; |
658 | if(I2C0_State != I2C_STATE_IDLE) return; |
658 | if(I2C0_State != I2C_STATE_IDLE) return; |
659 | // if something has to be send and the txd fifo is not full |
659 | // if something has to be send and the txd fifo is not full |
660 | if(UART1_tx_buffer.Locked == TRUE) |
660 | if(UART1_tx_buffer.Locked == TRUE) |
661 | { |
661 | { |
662 | // while there is some space in the tx fifo |
662 | // while there is some space in the tx fifo |
663 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
663 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
664 | { |
664 | { |
665 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
665 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
666 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
666 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
667 | #ifdef FOLLOW_ME |
667 | #ifdef FOLLOW_ME |
668 | if(TransmitAlsoToFC) |
668 | if(TransmitAlsoToFC) |
669 | { |
669 | { |
670 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
670 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
671 | } |
671 | } |
672 | #endif |
672 | #endif |
673 | // if terminating character or end of txd buffer reached |
673 | // if terminating character or end of txd buffer reached |
674 | if((tmp_tx == '\0') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
674 | if((tmp_tx == '\0') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
675 | { |
675 | { |
676 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
676 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
677 | #ifdef FOLLOW_ME |
677 | #ifdef FOLLOW_ME |
678 | TransmitAlsoToFC = 0; |
678 | TransmitAlsoToFC = 0; |
679 | #endif |
679 | #endif |
680 | break; // end while loop |
680 | break; // end while loop |
681 | } |
681 | } |
682 | } |
682 | } |
683 | } |
683 | } |
684 | } |
684 | } |
685 | 685 | ||
686 | //$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
686 | //$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
687 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
687 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
688 | //$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C |
688 | //$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C |
689 | //http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm |
689 | //http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm |
690 | void CreateNmeaGGA(void) |
690 | void CreateNmeaGGA(void) |
691 | { |
691 | { |
692 | unsigned char array[200], i = 0, crc = 0, x; |
692 | unsigned char array[200], i = 0, crc = 0, x; |
693 | long tmp1, tmp2; |
693 | long tmp1, tmp2; |
694 | i += sprintf(array, "$GPGGA,"); |
694 | i += sprintf(array, "$GPGGA,"); |
695 | // +++++++++++++++++++++++++++++++++++++++++++ |
695 | // +++++++++++++++++++++++++++++++++++++++++++ |
696 | if(SystemTime.Valid) |
696 | if(SystemTime.Valid) |
697 | { |
697 | { |
698 | i += sprintf(&array[i], "%02d%02d%02d.%02d,",SystemTime.Hour,SystemTime.Min,SystemTime.Sec,SystemTime.mSec/10); |
698 | i += sprintf(&array[i], "%02d%02d%02d.%02d,",SystemTime.Hour,SystemTime.Min,SystemTime.Sec,SystemTime.mSec/10); |
699 | } |
699 | } |
700 | else |
700 | else |
701 | { |
701 | { |
702 | i += sprintf(&array[i], ","); |
702 | i += sprintf(&array[i], ","); |
703 | } |
703 | } |
704 | // +++++++++++++++++++++++++++++++++++++++++++ |
704 | // +++++++++++++++++++++++++++++++++++++++++++ |
705 | if(GPSData.Flags & FLAG_GPSFIXOK) |
705 | if(GPSData.Flags & FLAG_GPSFIXOK) |
706 | { |
706 | { |
707 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
707 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
708 | i += sprintf(&array[i],"%02d",(int)tmp1); |
708 | i += sprintf(&array[i],"%02d",(int)tmp1); |
709 | 709 | ||
710 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
710 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
711 | tmp1 *= 6; // in Minuten |
711 | tmp1 *= 6; // in Minuten |
712 | tmp2 = tmp1 / 1000000L; |
712 | tmp2 = tmp1 / 1000000L; |
713 | i += sprintf(&array[i],"%02d",(int)tmp2); |
713 | i += sprintf(&array[i],"%02d",(int)tmp2); |
714 | tmp2 = tmp1 % 1000000L; |
714 | tmp2 = tmp1 % 1000000L; |
715 | tmp2 /= 10; // eine Stelle zu viel |
715 | tmp2 /= 10; // eine Stelle zu viel |
716 | i += sprintf(&array[i],".%05d,",(int)tmp2); |
716 | i += sprintf(&array[i],".%05d,",(int)tmp2); |
717 | 717 | ||
718 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
718 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
719 | else i += sprintf(&array[i],"S,"); |
719 | else i += sprintf(&array[i],"S,"); |
720 | // +++++++++++++++++++++++++++++++++++++++++++ |
720 | // +++++++++++++++++++++++++++++++++++++++++++ |
721 | 721 | ||
722 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
722 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
723 | i += sprintf(&array[i],"%03d",(int)tmp1); |
723 | i += sprintf(&array[i],"%03d",(int)tmp1); |
724 | 724 | ||
725 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
725 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
726 | tmp1 *= 6; // in Minuten |
726 | tmp1 *= 6; // in Minuten |
727 | tmp2 = tmp1 / 1000000L; |
727 | tmp2 = tmp1 / 1000000L; |
728 | i += sprintf(&array[i],"%02d",(int)tmp2); |
728 | i += sprintf(&array[i],"%02d",(int)tmp2); |
729 | tmp2 = tmp1 % 1000000L; |
729 | tmp2 = tmp1 % 1000000L; |
730 | tmp2 /= 10; // eine Stelle zu viel |
730 | tmp2 /= 10; // eine Stelle zu viel |
731 | i += sprintf(&array[i],".%05d,",(int)tmp2); |
731 | i += sprintf(&array[i],".%05d,",(int)tmp2); |
732 | 732 | ||
733 | 733 | ||
734 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
734 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
735 | else i += sprintf(&array[i],"W,"); |
735 | else i += sprintf(&array[i],"W,"); |
736 | i += sprintf(&array[i],"%d,",GPSData.SatFix); |
736 | i += sprintf(&array[i],"%d,",GPSData.SatFix); |
737 | i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
737 | i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
738 | i += sprintf(&array[i],"%d.%d,",GPSData.Position_Accuracy/100,abs(GPSData.Position_Accuracy%100)); |
738 | i += sprintf(&array[i],"%d.%d,",GPSData.Position_Accuracy/100,abs(GPSData.Position_Accuracy%100)); |
739 | // i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
739 | // i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
740 | tmp1 = NaviData.Altimeter / 2; // in dm |
740 | tmp1 = NaviData.Altimeter / 2; // in dm |
741 | i += sprintf(&array[i],"%d.%d,M,",tmp1 / 10,abs(tmp1 % 10)); |
741 | i += sprintf(&array[i],"%d.%d,M,",tmp1 / 10,abs(tmp1 % 10)); |
742 | i += sprintf(&array[i],",,,*"); |
742 | i += sprintf(&array[i],",,,*"); |
743 | } |
743 | } |
744 | else |
744 | else |
745 | { |
745 | { |
746 | i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats); |
746 | i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats); |
747 | } |
747 | } |
748 | for(x=1; x<i-1; x++) |
748 | for(x=1; x<i-1; x++) |
749 | { |
749 | { |
750 | crc ^= array[x]; |
750 | crc ^= array[x]; |
751 | } |
751 | } |
752 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
752 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
753 | AddSerialData(&UART1_tx_buffer,array,i); |
753 | AddSerialData(&UART1_tx_buffer,array,i); |
754 | 754 | ||
755 | // +++++++++++++++++++++++++++++++++++++++++++ |
755 | // +++++++++++++++++++++++++++++++++++++++++++ |
756 | } |
756 | } |
757 | 757 | ||
758 | //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
758 | //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
759 | //$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP |
759 | //$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP |
760 | 760 | ||
761 | void CreateNmeaRMC(void) |
761 | void CreateNmeaRMC(void) |
762 | { |
762 | { |
763 | unsigned char array[200], i = 0, crc = 0, x; |
763 | unsigned char array[200], i = 0, crc = 0, x; |
764 | int tmp_int; |
764 | int tmp_int; |
765 | long tmp1, tmp2; |
765 | long tmp1, tmp2; |
766 | // +++++++++++++++++++++++++++++++++++++++++++ |
766 | // +++++++++++++++++++++++++++++++++++++++++++ |
767 | i += sprintf(array, "$GPRMC,"); |
767 | i += sprintf(array, "$GPRMC,"); |
768 | // +++++++++++++++++++++++++++++++++++++++++++ |
768 | // +++++++++++++++++++++++++++++++++++++++++++ |
769 | if(SystemTime.Valid) |
769 | if(SystemTime.Valid) |
770 | { |
770 | { |
771 | i += sprintf(&array[i], "%02d%02d%02d.%03d,",SystemTime.Hour,SystemTime.Min,SystemTime.Sec,SystemTime.mSec); |
771 | i += sprintf(&array[i], "%02d%02d%02d.%03d,",SystemTime.Hour,SystemTime.Min,SystemTime.Sec,SystemTime.mSec); |
772 | } |
772 | } |
773 | else |
773 | else |
774 | { |
774 | { |
775 | i += sprintf(&array[i], ","); |
775 | i += sprintf(&array[i], ","); |
776 | } |
776 | } |
777 | if(GPSData.Flags & FLAG_GPSFIXOK) |
777 | if(GPSData.Flags & FLAG_GPSFIXOK) |
778 | { |
778 | { |
779 | // +++++++++++++++++++++++++++++++++++++++++++ |
779 | // +++++++++++++++++++++++++++++++++++++++++++ |
780 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
780 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
781 | i += sprintf(&array[i],"A,%02d",(int)tmp1); // Status: A = Okay V = Warnung |
781 | i += sprintf(&array[i],"A,%02d",(int)tmp1); // Status: A = Okay V = Warnung |
782 | 782 | ||
783 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
783 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
784 | tmp1 *= 6; // in Minuten |
784 | tmp1 *= 6; // in Minuten |
785 | tmp2 = tmp1 / 1000000L; |
785 | tmp2 = tmp1 / 1000000L; |
786 | i += sprintf(&array[i],"%02d",(int)tmp2); |
786 | i += sprintf(&array[i],"%02d",(int)tmp2); |
787 | tmp2 = tmp1 % 1000000L; |
787 | tmp2 = tmp1 % 1000000L; |
788 | tmp2 /= 10; // eine Stelle zu viel |
788 | tmp2 /= 10; // eine Stelle zu viel |
789 | i += sprintf(&array[i],".%05d,",(int)tmp2); |
789 | i += sprintf(&array[i],".%05d,",(int)tmp2); |
790 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
790 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
791 | else i += sprintf(&array[i],"S,"); |
791 | else i += sprintf(&array[i],"S,"); |
792 | // +++++++++++++++++++++++++++++++++++++++++++ |
792 | // +++++++++++++++++++++++++++++++++++++++++++ |
793 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
793 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
794 | i += sprintf(&array[i],"%03d",(int)tmp1); |
794 | i += sprintf(&array[i],"%03d",(int)tmp1); |
795 | 795 | ||
796 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
796 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
797 | tmp1 *= 6; // in Minuten |
797 | tmp1 *= 6; // in Minuten |
798 | tmp2 = tmp1 / 1000000L; |
798 | tmp2 = tmp1 / 1000000L; |
799 | i += sprintf(&array[i],"%02d",(int)tmp2); |
799 | i += sprintf(&array[i],"%02d",(int)tmp2); |
800 | tmp2 = tmp1 % 1000000L; |
800 | tmp2 = tmp1 % 1000000L; |
801 | tmp2 /= 10; // eine Stelle zu viel |
801 | tmp2 /= 10; // eine Stelle zu viel |
802 | i += sprintf(&array[i],".%05d,",(int)tmp2); |
802 | i += sprintf(&array[i],".%05d,",(int)tmp2); |
803 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
803 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
804 | else i += sprintf(&array[i],"W,"); |
804 | else i += sprintf(&array[i],"W,"); |
805 | // +++++++++++++++++++++++++++++++++++++++++++ |
805 | // +++++++++++++++++++++++++++++++++++++++++++ |
806 | tmp_int = GPSData.Speed_Ground; // in cm/sek |
806 | tmp_int = GPSData.Speed_Ground; // in cm/sek |
807 | tmp_int *= 90; |
807 | tmp_int *= 90; |
808 | tmp_int /= 463; |
808 | tmp_int /= 463; |
809 | i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten |
809 | i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten |
810 | // +++++++++++++++++++++++++++++++++++++++++++ |
810 | // +++++++++++++++++++++++++++++++++++++++++++ |
811 | i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10); |
811 | i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10); |
812 | // +++++++++++++++++++++++++++++++++++++++++++ |
812 | // +++++++++++++++++++++++++++++++++++++++++++ |
813 | if(SystemTime.Valid) |
813 | if(SystemTime.Valid) |
814 | { |
814 | { |
815 | i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year); |
815 | i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year); |
816 | } |
816 | } |
817 | else |
817 | else |
818 | { |
818 | { |
819 | i += sprintf(&array[i], ","); |
819 | i += sprintf(&array[i], ","); |
820 | } |
820 | } |
821 | // +++++++++++++++++++++++++++++++++++++++++++ |
821 | // +++++++++++++++++++++++++++++++++++++++++++ |
822 | i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
822 | i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
823 | if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,"); |
823 | if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,"); |
824 | // +++++++++++++++++++++++++++++++++++++++++++ |
824 | // +++++++++++++++++++++++++++++++++++++++++++ |
825 | if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D,"); |
825 | if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D,"); |
826 | else i += sprintf(&array[i], "A,"); |
826 | else i += sprintf(&array[i], "A,"); |
827 | } |
827 | } |
828 | else // kein Satfix |
828 | else // kein Satfix |
829 | { |
829 | { |
830 | i += sprintf(&array[i], "V,,,,,,,,,,N*"); |
830 | i += sprintf(&array[i], "V,,,,,,,,,,N*"); |
831 | } |
831 | } |
832 | // +++++++++++++++++++++++++++++++++++++++++++ |
832 | // +++++++++++++++++++++++++++++++++++++++++++ |
833 | // CRC |
833 | // CRC |
834 | // +++++++++++++++++++++++++++++++++++++++++++ |
834 | // +++++++++++++++++++++++++++++++++++++++++++ |
835 | for(x=1; x<i-1; x++) |
835 | for(x=1; x<i-1; x++) |
836 | { |
836 | { |
837 | crc ^= array[x]; |
837 | crc ^= array[x]; |
838 | } |
838 | } |
839 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
839 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
840 | // +++++++++++++++++++++++++++++++++++++++++++ |
840 | // +++++++++++++++++++++++++++++++++++++++++++ |
841 | AddSerialData(&UART1_tx_buffer,array,i); |
841 | AddSerialData(&UART1_tx_buffer,array,i); |
842 | // +++++++++++++++++++++++++++++++++++++++++++ |
842 | // +++++++++++++++++++++++++++++++++++++++++++ |
843 | /* |
843 | /* |
844 | |
844 | |
845 | |
845 | |
846 | 846 | ||
847 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
847 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
848 | GPSData.NumOfSats = UbxSol.numSV; |
848 | GPSData.NumOfSats = UbxSol.numSV; |
849 | GPSData.SatFix = UbxSol.GPSfix; |
849 | GPSData.SatFix = UbxSol.GPSfix; |
850 | GPSData.Position_Accuracy = UbxSol.PAcc; |
850 | GPSData.Position_Accuracy = UbxSol.PAcc; |
851 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
851 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
852 | SetGPSTime(&SystemTime); // update system time |
852 | SetGPSTime(&SystemTime); // update system time |
853 | // NAV POSLLH |
853 | // NAV POSLLH |
854 | GPSData.Position.Status = INVALID; |
854 | GPSData.Position.Status = INVALID; |
855 | GPSData.Position.Longitude = UbxPosLlh.LON; |
855 | GPSData.Position.Longitude = UbxPosLlh.LON; |
856 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
856 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
857 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
857 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
858 | GPSData.Position.Status = NEWDATA; |
858 | GPSData.Position.Status = NEWDATA; |
859 | // NAV VELNED |
859 | // NAV VELNED |
860 | GPSData.Speed_East = UbxVelNed.VEL_E; |
860 | GPSData.Speed_East = UbxVelNed.VEL_E; |
861 | GPSData.Speed_North = UbxVelNed.VEL_N; |
861 | GPSData.Speed_North = UbxVelNed.VEL_N; |
862 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
862 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
863 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
863 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
864 | GPSData.Heading = UbxVelNed.Heading; |
864 | GPSData.Heading = UbxVelNed.Heading; |
865 | SystemTime.Year = 0; |
865 | SystemTime.Year = 0; |
866 | SystemTime.Month = 0; |
866 | SystemTime.Month = 0; |
867 | SystemTime.Day = 0; |
867 | SystemTime.Day = 0; |
868 | SystemTime.Hour = 0; |
868 | SystemTime.Hour = 0; |
869 | SystemTime.Min = 0; |
869 | SystemTime.Min = 0; |
870 | SystemTime.Sec = 0; |
870 | SystemTime.Sec = 0; |
871 | SystemTime.mSec = 0; |
871 | SystemTime.mSec = 0; |
872 | SystemTime.Valid = 0; |
872 | SystemTime.Valid = 0; |
873 | |
873 | |
874 | FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2; |
874 | FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2; |
875 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
875 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
876 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
876 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
877 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
877 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
878 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
878 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
879 | 879 | ||
880 | 880 | ||
881 | 881 | ||
882 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
882 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
883 | i1 *= 100; |
883 | i1 *= 100; |
884 | i1 += i2 / 100000; |
884 | i1 += i2 / 100000; |
885 | i2 = i2 % 100000; |
885 | i2 = i2 % 100000; |
886 | i2 /= 10; |
886 | i2 /= 10; |
887 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
887 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
888 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
888 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
889 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
889 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
890 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
890 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
891 | break; |
891 | break; |
892 | case 1: |
892 | case 1: |
893 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
893 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
894 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
894 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
895 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
895 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
896 | //----------------------------- |
896 | //----------------------------- |
897 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
897 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
898 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
898 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
899 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
899 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
900 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
900 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
901 | 901 | ||
902 | */ |
902 | */ |
903 | } |
903 | } |
904 | 904 | ||
905 | 905 | ||
906 | /**************************************************************/ |
906 | /**************************************************************/ |
907 | /* Send the answers to incomming commands at the debug uart */ |
907 | /* Send the answers to incomming commands at the debug uart */ |
908 | /**************************************************************/ |
908 | /**************************************************************/ |
909 | void UART1_TransmitTxData(void) |
909 | void UART1_TransmitTxData(void) |
910 | { |
910 | { |
911 | static u8 motorindex1 = 255, motorindex2 = 0; |
911 | static u8 motorindex1 = 255, motorindex2 = 0; |
912 | if(DebugUART != UART1) return; |
912 | if(DebugUART != UART1) return; |
913 | 913 | ||
914 | if(CheckDelay(UART1_AboTimeOut)) |
914 | if(CheckDelay(UART1_AboTimeOut)) |
915 | { |
915 | { |
916 | UART1_DebugData_Interval = 0; |
916 | UART1_DebugData_Interval = 0; |
917 | UART1_NaviData_Interval = 0; |
917 | UART1_NaviData_Interval = 0; |
918 | UART1_Data3D_Interval = 0; |
918 | UART1_Data3D_Interval = 0; |
919 | UART1_Display_Interval = 0; |
919 | UART1_Display_Interval = 0; |
920 | UART1_MotorData_Interval = 0; |
920 | UART1_MotorData_Interval = 0; |
921 | } |
921 | } |
922 | 922 | ||
923 | UART1_Transmit(); // output pending bytes in tx buffer |
923 | UART1_Transmit(); // output pending bytes in tx buffer |
924 | if((UART1_tx_buffer.Locked == TRUE)) return; |
924 | if((UART1_tx_buffer.Locked == TRUE)) return; |
925 | 925 | ||
926 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
926 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
927 | { |
927 | { |
928 | s16 ParamValue; |
928 | s16 ParamValue; |
929 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
929 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
930 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
930 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
931 | UART1_Request_Parameter = FALSE; |
931 | UART1_Request_Parameter = FALSE; |
932 | } |
932 | } |
933 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
933 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
934 | { |
934 | { |
935 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
935 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
936 | Echo = 0; // reset echo value |
936 | Echo = 0; // reset echo value |
937 | UART1_Request_Echo = FALSE; |
937 | UART1_Request_Echo = FALSE; |
938 | } |
938 | } |
939 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
939 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
940 | { |
940 | { |
941 | u8 errorcode = FTP_ERROR_NONE; |
941 | u8 errorcode = FTP_ERROR_NONE; |
942 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
942 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
943 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
943 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
944 | 944 | ||
945 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
945 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
946 | else |
946 | else |
947 | { |
947 | { |
948 | u8 cmd = FTP_CMD_ERROR; |
948 | u8 cmd = FTP_CMD_ERROR; |
949 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
949 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
950 | } |
950 | } |
951 | 951 | ||
952 | UART1_Request_FTP = FALSE; |
952 | UART1_Request_FTP = FALSE; |
953 | } |
953 | } |
954 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
954 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
955 | { |
955 | { |
956 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
956 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
957 | UART1_Request_WritePoint = 0xFF; |
957 | UART1_Request_WritePoint = 0xFF; |
958 | } |
958 | } |
959 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
959 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
960 | { |
960 | { |
961 | u8 PointCount = PointList_GetCount(); |
961 | u8 PointCount = PointList_GetCount(); |
962 | if (UART1_Request_ReadPoint <= PointCount) |
962 | if (UART1_Request_ReadPoint <= PointCount) |
963 | { |
963 | { |
964 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
964 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
965 | } |
965 | } |
966 | else |
966 | else |
967 | { |
967 | { |
968 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
968 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
969 | } |
969 | } |
970 | UART1_Request_ReadPoint = 0; |
970 | UART1_Request_ReadPoint = 0; |
971 | } |
971 | } |
972 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
972 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
973 | { |
973 | { |
974 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
974 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
975 | UART1_Request_DebugLabel = 0xFF; |
975 | UART1_Request_DebugLabel = 0xFF; |
976 | } |
976 | } |
977 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
977 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
978 | { |
978 | { |
979 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
979 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
980 | UART1_ExternalControlConfirmFrame = 0; |
980 | UART1_ExternalControlConfirmFrame = 0; |
981 | } |
981 | } |
982 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
982 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
983 | { |
983 | { |
984 | NaviData.Errorcode = ErrorCode; |
984 | NaviData.Errorcode = ErrorCode; |
985 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
985 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
986 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
986 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
987 | UART1_Request_NaviData = FALSE; |
987 | UART1_Request_NaviData = FALSE; |
988 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
988 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
989 | } |
989 | } |
990 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
990 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
991 | { |
991 | { |
992 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
992 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
993 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
993 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
994 | UART1_Request_DebugData = FALSE; |
994 | UART1_Request_DebugData = FALSE; |
995 | } |
995 | } |
996 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
996 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
997 | { |
997 | { |
998 | Data3D.StickNick = FC.StickNick; |
998 | Data3D.StickNick = FC.StickNick; |
999 | Data3D.StickRoll = FC.StickRoll; |
999 | Data3D.StickRoll = FC.StickRoll; |
1000 | Data3D.StickYaw = FC.StickYaw; |
1000 | Data3D.StickYaw = FC.StickYaw; |
1001 | Data3D.StickGas = FC.StickGas; |
1001 | Data3D.StickGas = FC.StickGas; |
1002 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
1002 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
1003 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
1003 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
1004 | UART1_Request_Data3D = FALSE; |
1004 | UART1_Request_Data3D = FALSE; |
1005 | } |
1005 | } |
1006 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
1006 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
1007 | { |
1007 | { |
1008 | do |
1008 | do |
1009 | { |
1009 | { |
1010 | motorindex1++; |
1010 | motorindex1++; |
1011 | motorindex1%=12; |
1011 | motorindex1%=12; |
1012 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
1012 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
1013 | if(motorindex1 == motorindex2) break; |
1013 | if(motorindex1 == motorindex2) break; |
1014 | } |
1014 | } |
1015 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
1015 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
1016 | 1016 | ||
1017 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
1017 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
1018 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
1018 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
1019 | UART1_Request_MotorData = FALSE; |
1019 | UART1_Request_MotorData = FALSE; |
1020 | } |
1020 | } |
1021 | else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE)) |
1021 | else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE)) |
1022 | { |
1022 | { |
1023 | CreateNmeaGGA(); |
1023 | CreateNmeaGGA(); |
1024 | Send_NMEA_RMC = TRUE; // das muss noch da hinter |
1024 | Send_NMEA_RMC = TRUE; // das muss noch da hinter |
1025 | NMEA_Timer = SetDelay(NMEA_Interval); |
1025 | NMEA_Timer = SetDelay(NMEA_Interval); |
1026 | } |
1026 | } |
1027 | else if(Send_NMEA_RMC == TRUE && (UART1_tx_buffer.Locked == FALSE)) |
1027 | else if(Send_NMEA_RMC == TRUE && (UART1_tx_buffer.Locked == FALSE)) |
1028 | { |
1028 | { |
1029 | CreateNmeaRMC(); |
1029 | CreateNmeaRMC(); |
1030 | Send_NMEA_RMC = FALSE; |
1030 | Send_NMEA_RMC = FALSE; |
1031 | } |
1031 | } |
1032 | 1032 | ||
1033 | /* |
1033 | /* |
1034 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1034 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1035 | { |
1035 | { |
1036 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
1036 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
1037 | UART1_ConfirmFrame = 0; |
1037 | UART1_ConfirmFrame = 0; |
1038 | } |
1038 | } |
1039 | */ |
1039 | */ |
1040 | /* |
1040 | /* |
1041 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
1041 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
1042 | { |
1042 | { |
1043 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
1043 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
1044 | UART1_Request_ExternalControl = FALSE; |
1044 | UART1_Request_ExternalControl = FALSE; |
1045 | } |
1045 | } |
1046 | */ |
1046 | */ |
1047 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
1047 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
1048 | { |
1048 | { |
1049 | if(UART1_DisplayLine > 3) |
1049 | if(UART1_DisplayLine > 3) |
1050 | { |
1050 | { |
1051 | Menu_Update(UART1_DisplayKeys); |
1051 | Menu_Update(UART1_DisplayKeys); |
1052 | UART1_DisplayKeys = 0; |
1052 | UART1_DisplayKeys = 0; |
1053 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
1053 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
1054 | } |
1054 | } |
1055 | else |
1055 | else |
1056 | { |
1056 | { |
1057 | UART1_DisplayLine = 2; |
1057 | UART1_DisplayLine = 2; |
1058 | sprintf(text,"!!! incompatible !!!"); |
1058 | sprintf(text,"!!! incompatible !!!"); |
1059 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
1059 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
1060 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
1060 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
1061 | } |
1061 | } |
1062 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
1062 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
1063 | UART1_Request_Display = FALSE; |
1063 | UART1_Request_Display = FALSE; |
1064 | } |
1064 | } |
1065 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
1065 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
1066 | { |
1066 | { |
1067 | Menu_Update(0); |
1067 | Menu_Update(0); |
1068 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
1068 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
1069 | UART1_Request_Display1 = FALSE; |
1069 | UART1_Request_Display1 = FALSE; |
1070 | } |
1070 | } |
1071 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
1071 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
1072 | { |
1072 | { |
1073 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
1073 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
1074 | UART1_Request_VersionInfo = FALSE; |
1074 | UART1_Request_VersionInfo = FALSE; |
1075 | } |
1075 | } |
1076 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
1076 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
1077 | { |
1077 | { |
1078 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
1078 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
1079 | UART1_Request_SystemTime = FALSE; |
1079 | UART1_Request_SystemTime = FALSE; |
1080 | } |
1080 | } |
1081 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
1081 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
1082 | { |
1082 | { |
1083 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
1083 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
1084 | UART1_Request_ErrorMessage = FALSE; |
1084 | UART1_Request_ErrorMessage = FALSE; |
1085 | } |
1085 | } |
1086 | #ifdef FOLLOW_ME |
1086 | #ifdef FOLLOW_ME |
1087 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
1087 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
1088 | { |
1088 | { |
1089 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
1089 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
1090 | { |
1090 | { |
1091 | TransmitAlsoToFC = 1; |
1091 | TransmitAlsoToFC = 1; |
1092 | // update FollowMe content |
1092 | // update FollowMe content |
1093 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
1093 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
1094 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
1094 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
1095 | FollowMe.Position.Status = NEWDATA; |
1095 | FollowMe.Position.Status = NEWDATA; |
1096 | FollowMe.Position.Altitude = 1; |
1096 | FollowMe.Position.Altitude = 1; |
1097 | // 0 -> no Orientation |
1097 | // 0 -> no Orientation |
1098 | // 1-360 -> CompassCourse Setpoint |
1098 | // 1-360 -> CompassCourse Setpoint |
1099 | // -1 -> points to WP1 -> itself |
1099 | // -1 -> points to WP1 -> itself |
1100 | FollowMe.Heading = -1; |
1100 | FollowMe.Heading = -1; |
1101 | FollowMe.ToleranceRadius = 1; |
1101 | FollowMe.ToleranceRadius = 1; |
1102 | FollowMe.HoldTime = 60; |
1102 | FollowMe.HoldTime = 60; |
1103 | FollowMe.Event_Flag = 1; |
1103 | FollowMe.Event_Flag = 1; |
1104 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
1104 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
1105 | FollowMe.Type = POINT_TYPE_WP; |
1105 | FollowMe.Type = POINT_TYPE_WP; |
1106 | FollowMe.WP_EventChannelValue = 100; // set servo value |
1106 | FollowMe.WP_EventChannelValue = 100; // set servo value |
1107 | FollowMe.AltitudeRate = 0; // do not change height |
1107 | FollowMe.AltitudeRate = 0; // do not change height |
1108 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
1108 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
1109 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
1109 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
1110 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
1110 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
1111 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
1111 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
1112 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
1112 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
1113 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
1113 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
1114 | FollowMe.reserve[0] = 0; // reserve |
1114 | FollowMe.reserve[0] = 0; // reserve |
1115 | FollowMe.reserve[1] = 0; // reserve |
1115 | FollowMe.reserve[1] = 0; // reserve |
1116 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
1116 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
1117 | } |
1117 | } |
1118 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
1118 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
1119 | } |
1119 | } |
1120 | #endif |
1120 | #endif |
1121 | #ifdef DEBUG // only include functions if DEBUG is defined |
1121 | #ifdef DEBUG // only include functions if DEBUG is defined |
1122 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
1122 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
1123 | { |
1123 | { |
1124 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
1124 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
1125 | SendDebugOutput = 0; |
1125 | SendDebugOutput = 0; |
1126 | } |
1126 | } |
1127 | #endif |
1127 | #endif |
1128 | UART1_Transmit(); // output pending bytes in tx buffer |
1128 | UART1_Transmit(); // output pending bytes in tx buffer |
1129 | } |
1129 | } |
1130 | 1130 | ||
1131 | 1131 |