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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | #include <stdio.h> |
56 | #include <stdio.h> |
57 | #include <stdarg.h> |
57 | #include <stdarg.h> |
58 | #include <string.h> |
58 | #include <string.h> |
59 | 59 | ||
60 | #include "91x_lib.h" |
60 | #include "91x_lib.h" |
61 | #include "main.h" |
61 | #include "main.h" |
- | 62 | #include "math.h" |
|
62 | #include "config.h" |
63 | #include "config.h" |
63 | #include "menu.h" |
64 | #include "menu.h" |
64 | #include "GPS.h" |
65 | #include "GPS.h" |
65 | #include "i2c.h" |
66 | #include "i2c.h" |
66 | #include "uart0.h" |
67 | #include "uart0.h" |
67 | #include "uart1.h" |
68 | #include "uart1.h" |
68 | #include "uart2.h" |
69 | #include "uart2.h" |
69 | #include "timer1.h" |
70 | #include "timer1.h" |
70 | #include "timer2.h" |
71 | #include "timer2.h" |
71 | #include "analog.h" |
72 | #include "analog.h" |
72 | #include "compass.h" |
73 | #include "compass.h" |
73 | #include "waypoints.h" |
74 | #include "waypoints.h" |
74 | #include "mkprotocol.h" |
75 | #include "mkprotocol.h" |
75 | #include "params.h" |
76 | #include "params.h" |
76 | #include "fifo.h" |
77 | #include "fifo.h" |
77 | #include "debug.h" |
78 | #include "debug.h" |
78 | #include "spi_slave.h" |
79 | #include "spi_slave.h" |
79 | #include "ftphelper.h" |
80 | #include "ftphelper.h" |
80 | #include "led.h" |
81 | #include "led.h" |
81 | #include "fat16.h" |
82 | #include "fat16.h" |
82 | 83 | ||
83 | 84 | ||
84 | #define FALSE 0 |
85 | #define FALSE 0 |
85 | #define TRUE 1 |
86 | #define TRUE 1 |
86 | 87 | ||
87 | #define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
88 | #define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
88 | u32 UART1_AboTimeOut = 0; |
89 | u32 UART1_AboTimeOut = 0; |
89 | 90 | ||
90 | u8 UART1_Request_VersionInfo = FALSE; |
91 | u8 UART1_Request_VersionInfo = FALSE; |
91 | u8 UART1_Request_ExternalControl= FALSE; |
92 | u8 UART1_Request_ExternalControl= FALSE; |
92 | u8 UART1_Request_Display = FALSE; |
93 | u8 UART1_Request_Display = FALSE; |
93 | u8 UART1_Request_Display1 = FALSE; |
94 | u8 UART1_Request_Display1 = FALSE; |
94 | u8 UART1_Request_DebugData = FALSE; |
95 | u8 UART1_Request_DebugData = FALSE; |
95 | u8 UART1_Request_DebugLabel = 255; |
96 | u8 UART1_Request_DebugLabel = 255; |
96 | u8 UART1_Request_NaviData = FALSE; |
97 | u8 UART1_Request_NaviData = FALSE; |
97 | u8 UART1_Request_ErrorMessage = FALSE; |
98 | u8 UART1_Request_ErrorMessage = FALSE; |
98 | u8 UART1_Request_WritePoint = 0xFF; |
99 | u8 UART1_Request_WritePoint = 0xFF; |
99 | u8 UART1_Request_ReadPoint = 0; |
100 | u8 UART1_Request_ReadPoint = 0; |
100 | u8 UART1_Request_Data3D = FALSE; |
101 | u8 UART1_Request_Data3D = FALSE; |
101 | u8 UART1_Request_MotorData = FALSE; |
102 | u8 UART1_Request_MotorData = FALSE; |
102 | u8 UART1_Request_Echo = FALSE; |
103 | u8 UART1_Request_Echo = FALSE; |
103 | u8 UART1_Request_ParameterId = 0; |
104 | u8 UART1_Request_ParameterId = 0; |
104 | u8 UART1_Request_Parameter = FALSE; |
105 | u8 UART1_Request_Parameter = FALSE; |
105 | u8 UART1_Request_SystemTime = FALSE; |
106 | u8 UART1_Request_SystemTime = FALSE; |
106 | u8 UART1_DisplayKeys = 0; |
107 | u8 UART1_DisplayKeys = 0; |
107 | u8 UART1_DisplayLine = 0; |
108 | u8 UART1_DisplayLine = 0; |
108 | u8 UART1_ConfirmFrame = 0; |
109 | u8 UART1_ConfirmFrame = 0; |
109 | u8 UART1_Request_FTP = FALSE; |
110 | u8 UART1_Request_FTP = FALSE; |
110 | u8 LastTransmittedFCStatusFlags2 = 0; |
111 | u8 LastTransmittedFCStatusFlags2 = 0; |
111 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
112 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
112 | 113 | ||
113 | UART_TypeDef *DebugUART = UART1; |
114 | UART_TypeDef *DebugUART = UART1; |
114 | 115 | ||
115 | #ifdef FOLLOW_ME |
116 | #ifdef FOLLOW_ME |
116 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
117 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
117 | u32 UART1_FollowMe_Timer = 0; |
118 | u32 UART1_FollowMe_Timer = 0; |
118 | Point_t FollowMe; |
119 | Point_t FollowMe; |
119 | #endif |
120 | #endif |
120 | 121 | ||
121 | // the primary rx fifo |
122 | // the primary rx fifo |
122 | #define UART1_RX_FIFO_LEN 1024 |
123 | #define UART1_RX_FIFO_LEN 1024 |
123 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
124 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
124 | fifo_t UART1_rx_fifo; |
125 | fifo_t UART1_rx_fifo; |
125 | 126 | ||
126 | // the rx buffer |
127 | // the rx buffer |
127 | #define UART1_RX_BUFFER_LEN 1024 |
128 | #define UART1_RX_BUFFER_LEN 1024 |
128 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
129 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
129 | Buffer_t UART1_rx_buffer; |
130 | Buffer_t UART1_rx_buffer; |
130 | 131 | ||
131 | // the tx buffer |
132 | // the tx buffer |
132 | #define UART1_TX_BUFFER_LEN 1024 |
133 | #define UART1_TX_BUFFER_LEN 1024 |
133 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
134 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
134 | Buffer_t UART1_tx_buffer; |
135 | Buffer_t UART1_tx_buffer; |
135 | 136 | ||
136 | volatile u8 SerialLinkOkay = 0; |
137 | volatile u8 SerialLinkOkay = 0; |
137 | 138 | ||
138 | u8 text[200]; |
139 | u8 text[200]; |
139 | 140 | ||
140 | const u8 ANALOG_LABEL[32][16] = |
141 | const u8 ANALOG_LABEL[32][16] = |
141 | { |
142 | { |
142 | //1234567890123456 |
143 | //1234567890123456 |
143 | "AngleNick ", //0 |
144 | "AngleNick ", //0 |
144 | "AngleRoll ", |
145 | "AngleRoll ", |
145 | "AccNick ", |
146 | "AccNick ", |
146 | "AccRoll ", |
147 | "AccRoll ", |
147 | "OperatingRadius ", |
148 | "OperatingRadius ", |
148 | "FC-Flags ", //5 |
149 | "FC-Flags ", //5 |
149 | "NC-Flags ", |
150 | "NC-Flags ", |
150 | "NickServo ", |
151 | "NickServo ", |
151 | "RollServo ", |
152 | "RollServo ", |
152 | "GPS Data ", |
153 | "GPS Data ", |
153 | "CompassHeading ", //10 |
154 | "CompassHeading ", //10 |
154 | "GyroHeading ", |
155 | "GyroHeading ", |
155 | "SPI Error ", // achtung: muss auf 12 bleiben |
156 | "SPI Error ", // achtung: muss auf 12 bleiben |
156 | "SPI Okay ", |
157 | "SPI Okay ", |
157 | "I2C Error ", |
158 | "I2C Error ", |
158 | "I2C Okay ", //15 |
159 | "I2C Okay ", //15 |
159 | "16 ", |
160 | "16 ", |
160 | "17 ", |
161 | "17 ", |
161 | "18 ", |
162 | "18 ", |
162 | "19 ", // SD-Card-time |
163 | "19 ", // SD-Card-time |
163 | "EarthMagnet [%] ", //20 |
164 | "EarthMagnet [%] ", //20 |
164 | "Ground Speed ", // "Z_Speed ", |
165 | "Ground Speed ", // "Z_Speed ", |
165 | "N_Speed ", |
166 | "N_Speed ", |
166 | "E_Speed ", |
167 | "E_Speed ", |
167 | "Magnet X ", |
168 | "Magnet X ", |
168 | "Magnet Y ", //25 |
169 | "Magnet Y ", //25 |
169 | "Magnet Z ", |
170 | "Magnet Z ", |
170 | "Distance N ", |
171 | "Distance N ", |
171 | "Distance E ", |
172 | "Distance E ", |
172 | "GPS_Nick ", |
173 | "GPS_Nick ", |
173 | "GPS_Roll ", //30 |
174 | "GPS_Roll ", //30 |
174 | "Used_Sats " |
175 | "Used_Sats " |
175 | }; |
176 | }; |
176 | 177 | ||
177 | DebugOut_t DebugOut; |
178 | DebugOut_t DebugOut; |
178 | ExternControl_t ExternControl; |
179 | ExternControl_t ExternControl; |
179 | UART_VersionInfo_t UART_VersionInfo; |
180 | UART_VersionInfo_t UART_VersionInfo; |
180 | NaviData_t NaviData; |
181 | NaviData_t NaviData; |
181 | Data3D_t Data3D; |
182 | Data3D_t Data3D; |
182 | u16 Echo; // 2 bytes recieved will be sent back as echo |
183 | u16 Echo; // 2 bytes recieved will be sent back as echo |
183 | 184 | ||
184 | u32 UART1_DebugData_Timer = 0; |
185 | u32 UART1_DebugData_Timer = 0; |
185 | u32 UART1_DebugData_Interval = 0; // in ms |
186 | u32 UART1_DebugData_Interval = 0; // in ms |
186 | u32 UART1_NaviData_Timer = 0; |
187 | u32 UART1_NaviData_Timer = 0; |
187 | u32 UART1_NaviData_Interval = 0; // in ms |
188 | u32 UART1_NaviData_Interval = 0; // in ms |
188 | u32 UART1_Data3D_Timer = 0; |
189 | u32 UART1_Data3D_Timer = 0; |
189 | u32 UART1_Data3D_Interval = 0; // in ms |
190 | u32 UART1_Data3D_Interval = 0; // in ms |
190 | u32 UART1_MotorData_Timer = 0; |
191 | u32 UART1_MotorData_Timer = 0; |
191 | u32 UART1_MotorData_Interval = 0; // in ms |
192 | u32 UART1_MotorData_Interval = 0; // in ms |
192 | u32 UART1_Display_Timer = 0; |
193 | u32 UART1_Display_Timer = 0; |
193 | u32 UART1_Display_Interval = 0; // in ms |
194 | u32 UART1_Display_Interval = 0; // in ms |
194 | u32 NMEA_Timer = 0; |
195 | u32 NMEA_Timer = 0; |
195 | u32 NMEA_Interval = 500;// in ms |
196 | u32 NMEA_Interval = 500;// in ms |
196 | 197 | ||
197 | /********************************************************/ |
198 | /********************************************************/ |
198 | /* Initialization the UART1 */ |
199 | /* Initialization the UART1 */ |
199 | /********************************************************/ |
200 | /********************************************************/ |
200 | void UART1_Init (void) |
201 | void UART1_Init (void) |
201 | { |
202 | { |
202 | GPIO_InitTypeDef GPIO_InitStructure; |
203 | GPIO_InitTypeDef GPIO_InitStructure; |
203 | UART_InitTypeDef UART_InitStructure; |
204 | UART_InitTypeDef UART_InitStructure; |
204 | 205 | ||
205 | // initialize txd buffer |
206 | // initialize txd buffer |
206 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
207 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
207 | 208 | ||
208 | // initialize rxd buffer |
209 | // initialize rxd buffer |
209 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
210 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
210 | 211 | ||
211 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
212 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
212 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
213 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
213 | 214 | ||
214 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
215 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
215 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
216 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
216 | 217 | ||
217 | /*Configure UART1_Rx pin GPIO3.2*/ |
218 | /*Configure UART1_Rx pin GPIO3.2*/ |
218 | GPIO_StructInit(&GPIO_InitStructure); |
219 | GPIO_StructInit(&GPIO_InitStructure); |
219 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
220 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
220 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
221 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
221 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
222 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
222 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
223 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
223 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
224 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
224 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
225 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
225 | 226 | ||
226 | /*Configure UART1_Tx pin GPIO3.3*/ |
227 | /*Configure UART1_Tx pin GPIO3.3*/ |
227 | GPIO_StructInit(&GPIO_InitStructure); |
228 | GPIO_StructInit(&GPIO_InitStructure); |
228 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
229 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
229 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
230 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
230 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
231 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
231 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
232 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
232 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
233 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
233 | 234 | ||
234 | /* UART1 configured as follow: |
235 | /* UART1 configured as follow: |
235 | - Word Length = 8 Bits |
236 | - Word Length = 8 Bits |
236 | - One Stop Bit |
237 | - One Stop Bit |
237 | - No parity |
238 | - No parity |
238 | - BaudRate = 57600 baud |
239 | - BaudRate = 57600 baud |
239 | - Hardware flow control Disabled |
240 | - Hardware flow control Disabled |
240 | - Receive and transmit enabled |
241 | - Receive and transmit enabled |
241 | - Receive and transmit FIFOs are Disabled |
242 | - Receive and transmit FIFOs are Disabled |
242 | */ |
243 | */ |
243 | UART_StructInit(&UART_InitStructure); |
244 | UART_StructInit(&UART_InitStructure); |
244 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
245 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
245 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
246 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
246 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
247 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
247 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
248 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
248 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
249 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
249 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
250 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
250 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
251 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
251 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
252 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
252 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
253 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
253 | 254 | ||
254 | UART_DeInit(UART1); // reset uart 1 to default |
255 | UART_DeInit(UART1); // reset uart 1 to default |
255 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
256 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
256 | // enable uart 1 interrupts selective |
257 | // enable uart 1 interrupts selective |
257 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
258 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
258 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
259 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
259 | // configure the uart 1 interupt line |
260 | // configure the uart 1 interupt line |
260 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
261 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
261 | // enable the uart 1 IRQ |
262 | // enable the uart 1 IRQ |
262 | VIC_ITCmd(UART1_ITLine, ENABLE); |
263 | VIC_ITCmd(UART1_ITLine, ENABLE); |
263 | 264 | ||
264 | // initialize the debug timer |
265 | // initialize the debug timer |
265 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
266 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
266 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
267 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
267 | NMEA_Timer = SetDelay(14000); |
268 | NMEA_Timer = SetDelay(14000); |
268 | 269 | ||
269 | // Fill Version Info Structure |
270 | // Fill Version Info Structure |
270 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
271 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
271 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
272 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
272 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
273 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
273 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
274 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
274 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
275 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
275 | UART_VersionInfo.HWMajor = Version_HW; |
276 | UART_VersionInfo.HWMajor = Version_HW; |
276 | UART_VersionInfo.reserved2 = 0; |
277 | UART_VersionInfo.reserved2 = 0; |
277 | UART_VersionInfo.Flags = 0; |
278 | UART_VersionInfo.Flags = 0; |
278 | NaviData.Version = NAVIDATA_VERSION; |
279 | NaviData.Version = NAVIDATA_VERSION; |
279 | 280 | ||
280 | UART1_PutString("\r\n UART1 init...ok"); |
281 | UART1_PutString("\r\n UART1 init...ok"); |
281 | } |
282 | } |
282 | 283 | ||
283 | 284 | ||
284 | /****************************************************************/ |
285 | /****************************************************************/ |
285 | /* USART1 receiver ISR */ |
286 | /* USART1 receiver ISR */ |
286 | /****************************************************************/ |
287 | /****************************************************************/ |
287 | void UART1_IRQHandler(void) |
288 | void UART1_IRQHandler(void) |
288 | { |
289 | { |
289 | static u8 abortState = 0; |
290 | static u8 abortState = 0; |
290 | u8 c; |
291 | u8 c; |
291 | 292 | ||
292 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
293 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
293 | { |
294 | { |
294 | // clear the pending bits! |
295 | // clear the pending bits! |
295 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
296 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
296 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
297 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
297 | // if debug UART is not UART1 |
298 | // if debug UART is not UART1 |
298 | if (DebugUART != UART1) |
299 | if (DebugUART != UART1) |
299 | { // forward received data to the debug UART tx buffer |
300 | { // forward received data to the debug UART tx buffer |
300 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
301 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
301 | { |
302 | { |
302 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
303 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
303 | c = UART_ReceiveData(UART1); |
304 | c = UART_ReceiveData(UART1); |
304 | 305 | ||
305 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
306 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
306 | switch (abortState) |
307 | switch (abortState) |
307 | { |
308 | { |
308 | case 0: |
309 | case 0: |
309 | if (c == 27) abortState++; |
310 | if (c == 27) abortState++; |
310 | break; |
311 | break; |
311 | case 1: |
312 | case 1: |
312 | if (c == 27) abortState++; |
313 | if (c == 27) abortState++; |
313 | else abortState = 0; |
314 | else abortState = 0; |
314 | break; |
315 | break; |
315 | case 2: |
316 | case 2: |
316 | if (c == 0x55) abortState++; |
317 | if (c == 0x55) abortState++; |
317 | else abortState = 0; |
318 | else abortState = 0; |
318 | break; |
319 | break; |
319 | case 3: |
320 | case 3: |
320 | if (c == 0xAA) abortState++; |
321 | if (c == 0xAA) abortState++; |
321 | else abortState = 0; |
322 | else abortState = 0; |
322 | break; |
323 | break; |
323 | case 4: |
324 | case 4: |
324 | if (c == 0x00) |
325 | if (c == 0x00) |
325 | { |
326 | { |
326 | if(DebugUART == UART0) |
327 | if(DebugUART == UART0) |
327 | { |
328 | { |
328 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
329 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
329 | TIMER2_Init(); // enbable servo outputs |
330 | TIMER2_Init(); // enbable servo outputs |
330 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
331 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
331 | } |
332 | } |
332 | DebugUART = UART1; |
333 | DebugUART = UART1; |
333 | } |
334 | } |
334 | abortState = 0; |
335 | abortState = 0; |
335 | break; |
336 | break; |
336 | } // end switch abort state |
337 | } // end switch abort state |
337 | // if the Debug uart is not UART1, redirect input to the Debug UART |
338 | // if the Debug uart is not UART1, redirect input to the Debug UART |
338 | if (DebugUART != UART1) |
339 | if (DebugUART != UART1) |
339 | { |
340 | { |
340 | // wait for space in the tx buffer of the DebugUART |
341 | // wait for space in the tx buffer of the DebugUART |
341 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
342 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
342 | // move byte to the tx fifo of the debug uart |
343 | // move byte to the tx fifo of the debug uart |
343 | UART_SendData(DebugUART, c); |
344 | UART_SendData(DebugUART, c); |
344 | } |
345 | } |
345 | } |
346 | } |
346 | } |
347 | } |
347 | else // DebugUART == UART1 (normal operation) |
348 | else // DebugUART == UART1 (normal operation) |
348 | { |
349 | { |
349 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
350 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
350 | { // some byes in the hardware fifo |
351 | { // some byes in the hardware fifo |
351 | // get byte from hardware fifo |
352 | // get byte from hardware fifo |
352 | c = UART_ReceiveData(UART1); |
353 | c = UART_ReceiveData(UART1); |
353 | // put into the software fifo |
354 | // put into the software fifo |
354 | if(!fifo_put(&UART1_rx_fifo, c)) |
355 | if(!fifo_put(&UART1_rx_fifo, c)) |
355 | { // fifo overflow |
356 | { // fifo overflow |
356 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
357 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
357 | } |
358 | } |
358 | } // EOF while some byes in the hardware fifo |
359 | } // EOF while some byes in the hardware fifo |
359 | } // eof DebugUart = UART1 |
360 | } // eof DebugUart = UART1 |
360 | } |
361 | } |
361 | 362 | ||
362 | 363 | ||
363 | 364 | ||
364 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
365 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
365 | } |
366 | } |
366 | 367 | ||
367 | /**************************************************************/ |
368 | /**************************************************************/ |
368 | /* Process incomming data from debug uart */ |
369 | /* Process incomming data from debug uart */ |
369 | /**************************************************************/ |
370 | /**************************************************************/ |
370 | void UART1_ProcessRxData(void) |
371 | void UART1_ProcessRxData(void) |
371 | { |
372 | { |
372 | // return on forwarding uart or unlocked rx buffer |
373 | // return on forwarding uart or unlocked rx buffer |
373 | u8 c; |
374 | u8 c; |
374 | if(DebugUART != UART1) return; |
375 | if(DebugUART != UART1) return; |
375 | // if rx buffer is not locked |
376 | // if rx buffer is not locked |
376 | if(UART1_rx_buffer.Locked == FALSE) |
377 | if(UART1_rx_buffer.Locked == FALSE) |
377 | { |
378 | { |
378 | //collect data from primary rx fifo |
379 | //collect data from primary rx fifo |
379 | while(fifo_get(&UART1_rx_fifo, &c)) |
380 | while(fifo_get(&UART1_rx_fifo, &c)) |
380 | { |
381 | { |
381 | // break if complete frame is collected |
382 | // break if complete frame is collected |
382 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
383 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
383 | } |
384 | } |
384 | } |
385 | } |
385 | if(UART1_rx_buffer.Locked == FALSE) return; |
386 | if(UART1_rx_buffer.Locked == FALSE) return; |
386 | 387 | ||
387 | Point_t * pPoint = NULL; |
388 | Point_t * pPoint = NULL; |
388 | SerialMsg_t SerialMsg; |
389 | SerialMsg_t SerialMsg; |
389 | 390 | ||
390 | // analyze header first |
391 | // analyze header first |
391 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
392 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
392 | if( SerialMsg.Address == FC_ADDRESS ) |
393 | if( SerialMsg.Address == FC_ADDRESS ) |
393 | { |
394 | { |
394 | switch(SerialMsg.CmdID) |
395 | switch(SerialMsg.CmdID) |
395 | { |
396 | { |
396 | // case 'v': // version |
397 | // case 'v': // version |
397 | case 'b': // extern control |
398 | case 'b': // extern control |
398 | UART1_ExternalControlConfirmFrame = 1; |
399 | UART1_ExternalControlConfirmFrame = 1; |
399 | case 'y': // serial poti values |
400 | case 'y': // serial poti values |
400 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
401 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
401 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
402 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
402 | return; //end process rx data |
403 | return; //end process rx data |
403 | break; |
404 | break; |
404 | } |
405 | } |
405 | } |
406 | } |
406 | 407 | ||
407 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
408 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
408 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
409 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
409 | switch(SerialMsg.Address) // check for Slave Address |
410 | switch(SerialMsg.Address) // check for Slave Address |
410 | { |
411 | { |
411 | case NC_ADDRESS: // own Slave Address |
412 | case NC_ADDRESS: // own Slave Address |
412 | switch(SerialMsg.CmdID) |
413 | switch(SerialMsg.CmdID) |
413 | { |
414 | { |
414 | case 't': // request for the GPS time |
415 | case 't': // request for the GPS time |
415 | UART1_Request_SystemTime = TRUE; |
416 | UART1_Request_SystemTime = TRUE; |
416 | break; |
417 | break; |
417 | 418 | ||
418 | case 'f': // ftp command |
419 | case 'f': // ftp command |
419 | UART1_Request_FTP = SerialMsg.pData[0]; |
420 | UART1_Request_FTP = SerialMsg.pData[0]; |
420 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
421 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
421 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
422 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
422 | break; |
423 | break; |
423 | 424 | ||
424 | case 'z': // connection checker |
425 | case 'z': // connection checker |
425 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
426 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
426 | UART1_Request_Echo = TRUE; |
427 | UART1_Request_Echo = TRUE; |
427 | break; |
428 | break; |
428 | 429 | ||
429 | case 'e': // request for the text of the error status |
430 | case 'e': // request for the text of the error status |
430 | UART1_Request_ErrorMessage = TRUE; |
431 | UART1_Request_ErrorMessage = TRUE; |
431 | break; |
432 | break; |
432 | 433 | ||
433 | case 's':// new target position |
434 | case 's':// new target position |
434 | pPoint = (Point_t*)SerialMsg.pData; |
435 | pPoint = (Point_t*)SerialMsg.pData; |
435 | if(pPoint->Position.Status == NEWDATA) |
436 | if(pPoint->Position.Status == NEWDATA) |
436 | { |
437 | { |
437 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
438 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
438 | //pPoint->Index = 1; // must be one after empty list |
439 | //pPoint->Index = 1; // must be one after empty list |
439 | PointList_SetAt(pPoint); |
440 | PointList_SetAt(pPoint); |
440 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
441 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
441 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
442 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
442 | if(GPS_pWaypoint != NULL) // if new WP exist |
443 | if(GPS_pWaypoint != NULL) // if new WP exist |
443 | { // update WP hold time stamp immediately! |
444 | { // update WP hold time stamp immediately! |
444 | EnableNewWpHeading(); |
445 | EnableNewWpHeading(); |
445 | /* if(GPS_pWaypoint->Heading > 0 && GPS_pWaypoint->Heading <= 360) |
446 | /* if(GPS_pWaypoint->Heading > 0 && GPS_pWaypoint->Heading <= 360) |
446 | { |
447 | { |
447 | CAM_Orientation.Azimuth = GPS_pWaypoint->Heading; |
448 | CAM_Orientation.Azimuth = GPS_pWaypoint->Heading; |
448 | CAM_Orientation.UpdateMask |= CAM_UPDATE_AZIMUTH; |
449 | CAM_Orientation.UpdateMask |= CAM_UPDATE_AZIMUTH; |
449 | } |
450 | } |
450 | */ |
451 | */ |
451 | } |
452 | } |
452 | BeepTime = 50; |
453 | BeepTime = 50; |
453 | } |
454 | } |
454 | break; |
455 | break; |
455 | 456 | ||
456 | case 'u': // redirect debug uart |
457 | case 'u': // redirect debug uart |
457 | switch(SerialMsg.pData[0]) |
458 | switch(SerialMsg.pData[0]) |
458 | { |
459 | { |
459 | case UART_FLIGHTCTRL: |
460 | case UART_FLIGHTCTRL: |
460 | UART2_Init(); // initialize UART2 to FC pins |
461 | UART2_Init(); // initialize UART2 to FC pins |
461 | fifo_purge(&UART1_rx_fifo); |
462 | fifo_purge(&UART1_rx_fifo); |
462 | TIMER2_Deinit(); // reduce irq load |
463 | TIMER2_Deinit(); // reduce irq load |
463 | DebugUART = UART2; |
464 | DebugUART = UART2; |
464 | break; |
465 | break; |
465 | case UART_MK3MAG: |
466 | case UART_MK3MAG: |
466 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
467 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
467 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
468 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
468 | GPSData.Status = INVALID; |
469 | GPSData.Status = INVALID; |
469 | fifo_purge(&UART1_rx_fifo); |
470 | fifo_purge(&UART1_rx_fifo); |
470 | DebugUART = UART0; |
471 | DebugUART = UART0; |
471 | break; |
472 | break; |
472 | case UART_MKGPS: |
473 | case UART_MKGPS: |
473 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
474 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
474 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
475 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
475 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
476 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
476 | GPSData.Status = INVALID; |
477 | GPSData.Status = INVALID; |
477 | fifo_purge(&UART1_rx_fifo); |
478 | fifo_purge(&UART1_rx_fifo); |
478 | DebugUART = UART0; |
479 | DebugUART = UART0; |
479 | break; |
480 | break; |
480 | default: |
481 | default: |
481 | break; |
482 | break; |
482 | } |
483 | } |
483 | break; |
484 | break; |
484 | 485 | ||
485 | case 'w':// Set point in list at index |
486 | case 'w':// Set point in list at index |
486 | { |
487 | { |
487 | pPoint = (Point_t*)SerialMsg.pData; |
488 | pPoint = (Point_t*)SerialMsg.pData; |
488 | 489 | ||
489 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
490 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
490 | { |
491 | { |
491 | PointList_Clear(); |
492 | PointList_Clear(); |
492 | GPS_pWaypoint = PointList_WPBegin(); |
493 | GPS_pWaypoint = PointList_WPBegin(); |
493 | UART1_Request_WritePoint = 0; // return new point count |
494 | UART1_Request_WritePoint = 0; // return new point count |
494 | } |
495 | } |
495 | else |
496 | else |
496 | { // update WP in list at index |
497 | { // update WP in list at index |
497 | if(pPoint->Index > MaxNumberOfWaypoints) |
498 | if(pPoint->Index > MaxNumberOfWaypoints) |
498 | { |
499 | { |
499 | UART1_Request_WritePoint = 254; |
500 | UART1_Request_WritePoint = 254; |
500 | pPoint->Index = MaxNumberOfWaypoints; |
501 | pPoint->Index = MaxNumberOfWaypoints; |
501 | } |
502 | } |
502 | else |
503 | else |
503 | UART1_Request_WritePoint = PointList_SetAt(pPoint); |
504 | UART1_Request_WritePoint = PointList_SetAt(pPoint); |
504 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
505 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
505 | if(UART1_Request_WritePoint == pPoint->Index) |
506 | if(UART1_Request_WritePoint == pPoint->Index) |
506 | { |
507 | { |
507 | BeepTime = 500; |
508 | BeepTime = 500; |
508 | } |
509 | } |
509 | } |
510 | } |
510 | } |
511 | } |
511 | break; |
512 | break; |
512 | 513 | ||
513 | case 'x':// Read Waypoint from List |
514 | case 'x':// Read Waypoint from List |
514 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
515 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
515 | break; |
516 | break; |
516 | 517 | ||
517 | case 'j':// Set/Get NC-Parameter |
518 | case 'j':// Set/Get NC-Parameter |
518 | switch(SerialMsg.pData[0]) |
519 | switch(SerialMsg.pData[0]) |
519 | { |
520 | { |
520 | case 0: // get |
521 | case 0: // get |
521 | break; |
522 | break; |
522 | 523 | ||
523 | case 1: // set |
524 | case 1: // set |
524 | { |
525 | { |
525 | s16 value; |
526 | s16 value; |
526 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
527 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
527 | NCParams_SetValue(SerialMsg.pData[1], &value); |
528 | NCParams_SetValue(SerialMsg.pData[1], &value); |
528 | } |
529 | } |
529 | break; |
530 | break; |
530 | 531 | ||
531 | default: |
532 | default: |
532 | break; |
533 | break; |
533 | } |
534 | } |
534 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
535 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
535 | UART1_Request_Parameter = TRUE; |
536 | UART1_Request_Parameter = TRUE; |
536 | break; |
537 | break; |
537 | default: |
538 | default: |
538 | // unsupported command recieved |
539 | // unsupported command recieved |
539 | break; |
540 | break; |
540 | } // case NC_ADDRESS |
541 | } // case NC_ADDRESS |
541 | // "break;" is missing here to fall thru to the common commands |
542 | // "break;" is missing here to fall thru to the common commands |
542 | 543 | ||
543 | default: // and any other Slave Address |
544 | default: // and any other Slave Address |
544 | 545 | ||
545 | switch(SerialMsg.CmdID) // check CmdID |
546 | switch(SerialMsg.CmdID) // check CmdID |
546 | { |
547 | { |
547 | case 'a':// request for the labels of the analog debug outputs |
548 | case 'a':// request for the labels of the analog debug outputs |
548 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
549 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
549 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
550 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
550 | break; |
551 | break; |
551 | /* |
552 | /* |
552 | case 'b': // submit extern control |
553 | case 'b': // submit extern control |
553 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
554 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
554 | UART1_ConfirmFrame = ExternControl.Frame; |
555 | UART1_ConfirmFrame = ExternControl.Frame; |
555 | break; |
556 | break; |
556 | */ |
557 | */ |
557 | case 'd': // request for debug data; |
558 | case 'd': // request for debug data; |
558 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
559 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
559 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
560 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
560 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
561 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
561 | break; |
562 | break; |
562 | 563 | ||
563 | case 'c': // request for 3D data; |
564 | case 'c': // request for 3D data; |
564 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
565 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
565 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
566 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
566 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
567 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
567 | break; |
568 | break; |
568 | 569 | ||
569 | case 'k': // request for Motor data; |
570 | case 'k': // request for Motor data; |
570 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
571 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
571 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
572 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
572 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
573 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
573 | break; |
574 | break; |
574 | 575 | ||
575 | case 'h':// reqest for display line |
576 | case 'h':// reqest for display line |
576 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
577 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
577 | { |
578 | { |
578 | UART1_DisplayLine = 2; |
579 | UART1_DisplayLine = 2; |
579 | UART1_Display_Interval = 0; |
580 | UART1_Display_Interval = 0; |
580 | } |
581 | } |
581 | else |
582 | else |
582 | { |
583 | { |
583 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
584 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
584 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
585 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
585 | UART1_DisplayLine = 4; |
586 | UART1_DisplayLine = 4; |
586 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
587 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
587 | } |
588 | } |
588 | UART1_Request_Display = TRUE; |
589 | UART1_Request_Display = TRUE; |
589 | break; |
590 | break; |
590 | 591 | ||
591 | case 'l':// reqest for display columns |
592 | case 'l':// reqest for display columns |
592 | MenuItem = SerialMsg.pData[0]; |
593 | MenuItem = SerialMsg.pData[0]; |
593 | UART1_Request_Display1 = TRUE; |
594 | UART1_Request_Display1 = TRUE; |
594 | break; |
595 | break; |
595 | 596 | ||
596 | case 'o': // request for navigation information |
597 | case 'o': // request for navigation information |
597 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
598 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
598 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
599 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
599 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
600 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
600 | break; |
601 | break; |
601 | 602 | ||
602 | case 'v': // request for version info |
603 | case 'v': // request for version info |
603 | UART1_Request_VersionInfo = TRUE; |
604 | UART1_Request_VersionInfo = TRUE; |
604 | break; |
605 | break; |
605 | default: |
606 | default: |
606 | // unsupported command recieved |
607 | // unsupported command recieved |
607 | break; |
608 | break; |
608 | } |
609 | } |
609 | break; // default: |
610 | break; // default: |
610 | } |
611 | } |
611 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
612 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
612 | } |
613 | } |
613 | 614 | ||
614 | 615 | ||
615 | /*****************************************************/ |
616 | /*****************************************************/ |
616 | /* Send a character */ |
617 | /* Send a character */ |
617 | /*****************************************************/ |
618 | /*****************************************************/ |
618 | s16 UART1_Putchar(char c) |
619 | s16 UART1_Putchar(char c) |
619 | { |
620 | { |
620 | u32 timeout = 10000; |
621 | u32 timeout = 10000; |
621 | if (c == '\n') UART1_Putchar('\r'); |
622 | if (c == '\n') UART1_Putchar('\r'); |
622 | // wait until txd fifo is not full |
623 | // wait until txd fifo is not full |
623 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
624 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
624 | // transmit byte |
625 | // transmit byte |
625 | UART_SendData(UART1, c); |
626 | UART_SendData(UART1, c); |
626 | #ifdef FOLLOW_ME |
627 | #ifdef FOLLOW_ME |
627 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
628 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
628 | #endif |
629 | #endif |
629 | return (0); |
630 | return (0); |
630 | } |
631 | } |
631 | 632 | ||
632 | /*****************************************************/ |
633 | /*****************************************************/ |
633 | /* Send a string to the debug uart */ |
634 | /* Send a string to the debug uart */ |
634 | /*****************************************************/ |
635 | /*****************************************************/ |
635 | void UART1_PutString(u8 *s) |
636 | void UART1_PutString(u8 *s) |
636 | { |
637 | { |
637 | if(s == NULL) return; |
638 | if(s == NULL) return; |
638 | while (*s != '\0' && DebugUART == UART1) |
639 | while (*s != '\0' && DebugUART == UART1) |
639 | { |
640 | { |
640 | UART1_Putchar(*s); |
641 | UART1_Putchar(*s); |
641 | s ++; |
642 | s ++; |
642 | } |
643 | } |
643 | } |
644 | } |
644 | 645 | ||
645 | 646 | ||
646 | /**************************************************************/ |
647 | /**************************************************************/ |
647 | /* Transmit tx buffer via debug uart */ |
648 | /* Transmit tx buffer via debug uart */ |
648 | /**************************************************************/ |
649 | /**************************************************************/ |
649 | void UART1_Transmit(void) |
650 | void UART1_Transmit(void) |
650 | { |
651 | { |
651 | u8 tmp_tx; |
652 | u8 tmp_tx; |
652 | if(DebugUART != UART1) return; |
653 | if(DebugUART != UART1) return; |
653 | // if something has to be send and the txd fifo is not full |
654 | // if something has to be send and the txd fifo is not full |
654 | if(UART1_tx_buffer.Locked == TRUE) |
655 | if(UART1_tx_buffer.Locked == TRUE) |
655 | { |
656 | { |
656 | // while there is some space in the tx fifo |
657 | // while there is some space in the tx fifo |
657 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
658 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
658 | { |
659 | { |
659 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
660 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
660 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
661 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
661 | #ifdef FOLLOW_ME |
662 | #ifdef FOLLOW_ME |
662 | if(TransmitAlsoToFC) |
663 | if(TransmitAlsoToFC) |
663 | { |
664 | { |
664 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
665 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
665 | } |
666 | } |
666 | #endif |
667 | #endif |
667 | // if terminating character or end of txd buffer reached |
668 | // if terminating character or end of txd buffer reached |
668 | if((tmp_tx == '\0') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
669 | if((tmp_tx == '\0') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
669 | { |
670 | { |
670 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
671 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
671 | #ifdef FOLLOW_ME |
672 | #ifdef FOLLOW_ME |
672 | TransmitAlsoToFC = 0; |
673 | TransmitAlsoToFC = 0; |
673 | #endif |
674 | #endif |
674 | break; // end while loop |
675 | break; // end while loop |
675 | } |
676 | } |
676 | } |
677 | } |
677 | } |
678 | } |
678 | } |
679 | } |
679 | 680 | ||
680 | //$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
681 | //$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
681 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
682 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
682 | //$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C |
683 | //$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C |
683 | void CreateNmeaGGA(void) |
684 | void CreateNmeaGGA(void) |
684 | { |
685 | { |
685 | unsigned char array[100], i = 0, crc = 0, x; |
686 | unsigned char array[100], i = 0, crc = 0, x; |
686 | long tmp1, tmp2; |
687 | long tmp1, tmp2; |
687 | i += sprintf(array, "$GPGGA,"); |
688 | i += sprintf(array, "$GPGGA,"); |
688 | // +++++++++++++++++++++++++++++++++++++++++++ |
689 | // +++++++++++++++++++++++++++++++++++++++++++ |
689 | if(SystemTime.Valid) |
690 | if(SystemTime.Valid) |
690 | { |
691 | { |
691 | i += sprintf(&array[i], "%02d%02d%02d.%02d,",SystemTime.Hour,SystemTime.Min,SystemTime.Sec,SystemTime.mSec/10); |
692 | i += sprintf(&array[i], "%02d%02d%02d.%02d,",SystemTime.Hour,SystemTime.Min,SystemTime.Sec,SystemTime.mSec/10); |
692 | } |
693 | } |
693 | else |
694 | else |
694 | { |
695 | { |
695 | i += sprintf(&array[i], ","); |
696 | i += sprintf(&array[i], ","); |
696 | } |
697 | } |
697 | // +++++++++++++++++++++++++++++++++++++++++++ |
698 | // +++++++++++++++++++++++++++++++++++++++++++ |
698 | if(GPSData.Flags & FLAG_GPSFIXOK) |
699 | if(GPSData.Flags & FLAG_GPSFIXOK) |
699 | { |
700 | { |
700 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
701 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
701 | i += sprintf(&array[i],"%02d",tmp1); |
702 | i += sprintf(&array[i],"%02d",tmp1); |
702 | 703 | ||
703 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
704 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
704 | tmp1 *= 6; // in Minuten |
705 | tmp1 *= 6; // in Minuten |
705 | tmp2 = tmp1 / 1000000L; |
706 | tmp2 = tmp1 / 1000000L; |
706 | i += sprintf(&array[i],"%02d",tmp2); |
707 | i += sprintf(&array[i],"%02d",tmp2); |
707 | tmp2 = tmp1 % 1000000L; |
708 | tmp2 = tmp1 % 1000000L; |
708 | tmp2 /= 10; // eine Stelle zu viel |
709 | tmp2 /= 10; // eine Stelle zu viel |
709 | i += sprintf(&array[i],".%05d,",tmp2); |
710 | i += sprintf(&array[i],".%05d,",tmp2); |
710 | 711 | ||
711 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
712 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
712 | else i += sprintf(&array[i],"S,"); |
713 | else i += sprintf(&array[i],"S,"); |
713 | // +++++++++++++++++++++++++++++++++++++++++++ |
714 | // +++++++++++++++++++++++++++++++++++++++++++ |
714 | 715 | ||
715 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
716 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
716 | i += sprintf(&array[i],"%03d",tmp1); |
717 | i += sprintf(&array[i],"%03d",tmp1); |
717 | 718 | ||
718 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
719 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
719 | tmp1 *= 6; // in Minuten |
720 | tmp1 *= 6; // in Minuten |
720 | tmp2 = tmp1 / 1000000L; |
721 | tmp2 = tmp1 / 1000000L; |
721 | i += sprintf(&array[i],"%02d",tmp2); |
722 | i += sprintf(&array[i],"%02d",tmp2); |
722 | tmp2 = tmp1 % 1000000L; |
723 | tmp2 = tmp1 % 1000000L; |
723 | tmp2 /= 10; // eine Stelle zu viel |
724 | tmp2 /= 10; // eine Stelle zu viel |
724 | i += sprintf(&array[i],".%05d,",tmp2); |
725 | i += sprintf(&array[i],".%05d,",tmp2); |
725 | 726 | ||
726 | 727 | ||
727 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
728 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
728 | else i += sprintf(&array[i],"W,"); |
729 | else i += sprintf(&array[i],"W,"); |
729 | i += sprintf(&array[i],"%d,",GPSData.SatFix); |
730 | i += sprintf(&array[i],"%d,",GPSData.SatFix); |
730 | i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
731 | i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
731 | i += sprintf(&array[i],"%d.%d,",GPSData.Position_Accuracy/100,abs(GPSData.Position_Accuracy%100)); |
732 | i += sprintf(&array[i],"%d.%d,",GPSData.Position_Accuracy/100,abs(GPSData.Position_Accuracy%100)); |
732 | // i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
733 | // i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
733 | tmp1 = NaviData.Altimeter / 2; // in dm |
734 | tmp1 = NaviData.Altimeter / 2; // in dm |
734 | i += sprintf(&array[i],"%d.%d,M,",tmp1 / 10,abs(tmp1 % 10)); |
735 | i += sprintf(&array[i],"%d.%d,M,",tmp1 / 10,abs(tmp1 % 10)); |
735 | i += sprintf(&array[i],",,,*"); |
736 | i += sprintf(&array[i],",,,*"); |
736 | } |
737 | } |
737 | else |
738 | else |
738 | { |
739 | { |
739 | i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats); |
740 | i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats); |
740 | } |
741 | } |
741 | for(x=1; x<i-1; x++) |
742 | for(x=1; x<i-1; x++) |
742 | { |
743 | { |
743 | crc ^= array[x]; |
744 | crc ^= array[x]; |
744 | } |
745 | } |
745 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
746 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
746 | AddSerialData(&UART1_tx_buffer,array,i); |
747 | AddSerialData(&UART1_tx_buffer,array,i); |
747 | 748 | ||
748 | // +++++++++++++++++++++++++++++++++++++++++++ |
749 | // +++++++++++++++++++++++++++++++++++++++++++ |
749 | /* |
750 | /* |
750 | |
751 | |
751 | |
752 | |
752 | 753 | ||
753 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
754 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
754 | GPSData.NumOfSats = UbxSol.numSV; |
755 | GPSData.NumOfSats = UbxSol.numSV; |
755 | GPSData.SatFix = UbxSol.GPSfix; |
756 | GPSData.SatFix = UbxSol.GPSfix; |
756 | GPSData.Position_Accuracy = UbxSol.PAcc; |
757 | GPSData.Position_Accuracy = UbxSol.PAcc; |
757 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
758 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
758 | SetGPSTime(&SystemTime); // update system time |
759 | SetGPSTime(&SystemTime); // update system time |
759 | // NAV POSLLH |
760 | // NAV POSLLH |
760 | GPSData.Position.Status = INVALID; |
761 | GPSData.Position.Status = INVALID; |
761 | GPSData.Position.Longitude = UbxPosLlh.LON; |
762 | GPSData.Position.Longitude = UbxPosLlh.LON; |
762 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
763 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
763 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
764 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
764 | GPSData.Position.Status = NEWDATA; |
765 | GPSData.Position.Status = NEWDATA; |
765 | // NAV VELNED |
766 | // NAV VELNED |
766 | GPSData.Speed_East = UbxVelNed.VEL_E; |
767 | GPSData.Speed_East = UbxVelNed.VEL_E; |
767 | GPSData.Speed_North = UbxVelNed.VEL_N; |
768 | GPSData.Speed_North = UbxVelNed.VEL_N; |
768 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
769 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
769 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
770 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
770 | GPSData.Heading = UbxVelNed.Heading; |
771 | GPSData.Heading = UbxVelNed.Heading; |
771 | SystemTime.Year = 0; |
772 | SystemTime.Year = 0; |
772 | SystemTime.Month = 0; |
773 | SystemTime.Month = 0; |
773 | SystemTime.Day = 0; |
774 | SystemTime.Day = 0; |
774 | SystemTime.Hour = 0; |
775 | SystemTime.Hour = 0; |
775 | SystemTime.Min = 0; |
776 | SystemTime.Min = 0; |
776 | SystemTime.Sec = 0; |
777 | SystemTime.Sec = 0; |
777 | SystemTime.mSec = 0; |
778 | SystemTime.mSec = 0; |
778 | SystemTime.Valid = 0; |
779 | SystemTime.Valid = 0; |
779 | |
780 | |
780 | FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2; |
781 | FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2; |
781 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
782 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
782 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
783 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
783 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
784 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
784 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
785 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
785 | 786 | ||
786 | 787 | ||
787 | 788 | ||
788 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
789 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
789 | i1 *= 100; |
790 | i1 *= 100; |
790 | i1 += i2 / 100000; |
791 | i1 += i2 / 100000; |
791 | i2 = i2 % 100000; |
792 | i2 = i2 % 100000; |
792 | i2 /= 10; |
793 | i2 /= 10; |
793 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
794 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
794 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
795 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
795 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
796 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
796 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
797 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
797 | break; |
798 | break; |
798 | case 1: |
799 | case 1: |
799 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
800 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
800 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
801 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
801 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
802 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
802 | //----------------------------- |
803 | //----------------------------- |
803 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
804 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
804 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
805 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
805 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
806 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
806 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
807 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
807 | 808 | ||
808 | */ |
809 | */ |
809 | } |
810 | } |
810 | 811 | ||
811 | 812 | ||
812 | /**************************************************************/ |
813 | /**************************************************************/ |
813 | /* Send the answers to incomming commands at the debug uart */ |
814 | /* Send the answers to incomming commands at the debug uart */ |
814 | /**************************************************************/ |
815 | /**************************************************************/ |
815 | void UART1_TransmitTxData(void) |
816 | void UART1_TransmitTxData(void) |
816 | { |
817 | { |
817 | static u8 motorindex1 = 255, motorindex2 = 0; |
818 | static u8 motorindex1 = 255, motorindex2 = 0; |
818 | if(DebugUART != UART1) return; |
819 | if(DebugUART != UART1) return; |
819 | 820 | ||
820 | if(CheckDelay(UART1_AboTimeOut)) |
821 | if(CheckDelay(UART1_AboTimeOut)) |
821 | { |
822 | { |
822 | UART1_DebugData_Interval = 0; |
823 | UART1_DebugData_Interval = 0; |
823 | UART1_NaviData_Interval = 0; |
824 | UART1_NaviData_Interval = 0; |
824 | UART1_Data3D_Interval = 0; |
825 | UART1_Data3D_Interval = 0; |
825 | UART1_Display_Interval = 0; |
826 | UART1_Display_Interval = 0; |
826 | UART1_MotorData_Interval = 0; |
827 | UART1_MotorData_Interval = 0; |
827 | } |
828 | } |
828 | 829 | ||
829 | UART1_Transmit(); // output pending bytes in tx buffer |
830 | UART1_Transmit(); // output pending bytes in tx buffer |
830 | if((UART1_tx_buffer.Locked == TRUE)) return; |
831 | if((UART1_tx_buffer.Locked == TRUE)) return; |
831 | 832 | ||
832 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
833 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
833 | { |
834 | { |
834 | s16 ParamValue; |
835 | s16 ParamValue; |
835 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
836 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
836 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
837 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
837 | UART1_Request_Parameter = FALSE; |
838 | UART1_Request_Parameter = FALSE; |
838 | } |
839 | } |
839 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
840 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
840 | { |
841 | { |
841 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
842 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
842 | Echo = 0; // reset echo value |
843 | Echo = 0; // reset echo value |
843 | UART1_Request_Echo = FALSE; |
844 | UART1_Request_Echo = FALSE; |
844 | } |
845 | } |
845 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
846 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
846 | { |
847 | { |
847 | u8 errorcode = FTP_ERROR_NONE; |
848 | u8 errorcode = FTP_ERROR_NONE; |
848 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
849 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
849 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
850 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
850 | 851 | ||
851 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
852 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
852 | else |
853 | else |
853 | { |
854 | { |
854 | u8 cmd = FTP_CMD_ERROR; |
855 | u8 cmd = FTP_CMD_ERROR; |
855 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
856 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
856 | } |
857 | } |
857 | 858 | ||
858 | UART1_Request_FTP = FALSE; |
859 | UART1_Request_FTP = FALSE; |
859 | } |
860 | } |
860 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
861 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
861 | { |
862 | { |
862 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
863 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
863 | UART1_Request_WritePoint = 0xFF; |
864 | UART1_Request_WritePoint = 0xFF; |
864 | } |
865 | } |
865 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
866 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
866 | { |
867 | { |
867 | u8 PointCount = PointList_GetCount(); |
868 | u8 PointCount = PointList_GetCount(); |
868 | if (UART1_Request_ReadPoint <= PointCount) |
869 | if (UART1_Request_ReadPoint <= PointCount) |
869 | { |
870 | { |
870 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
871 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
871 | } |
872 | } |
872 | else |
873 | else |
873 | { |
874 | { |
874 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
875 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
875 | } |
876 | } |
876 | UART1_Request_ReadPoint = 0; |
877 | UART1_Request_ReadPoint = 0; |
877 | } |
878 | } |
878 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
879 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
879 | { |
880 | { |
880 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
881 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
881 | UART1_Request_DebugLabel = 0xFF; |
882 | UART1_Request_DebugLabel = 0xFF; |
882 | } |
883 | } |
883 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
884 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
884 | { |
885 | { |
885 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
886 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
886 | UART1_ExternalControlConfirmFrame = 0; |
887 | UART1_ExternalControlConfirmFrame = 0; |
887 | } |
888 | } |
888 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
889 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
889 | { |
890 | { |
890 | NaviData.Errorcode = ErrorCode; |
891 | NaviData.Errorcode = ErrorCode; |
891 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
892 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
892 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
893 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
893 | UART1_Request_NaviData = FALSE; |
894 | UART1_Request_NaviData = FALSE; |
894 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
895 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
895 | } |
896 | } |
896 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
897 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
897 | { |
898 | { |
898 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
899 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
899 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
900 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
900 | UART1_Request_DebugData = FALSE; |
901 | UART1_Request_DebugData = FALSE; |
901 | } |
902 | } |
902 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
903 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
903 | { |
904 | { |
904 | Data3D.StickNick = FC.StickNick; |
905 | Data3D.StickNick = FC.StickNick; |
905 | Data3D.StickRoll = FC.StickRoll; |
906 | Data3D.StickRoll = FC.StickRoll; |
906 | Data3D.StickYaw = FC.StickYaw; |
907 | Data3D.StickYaw = FC.StickYaw; |
907 | Data3D.StickGas = FC.StickGas; |
908 | Data3D.StickGas = FC.StickGas; |
908 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
909 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
909 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
910 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
910 | UART1_Request_Data3D = FALSE; |
911 | UART1_Request_Data3D = FALSE; |
911 | } |
912 | } |
912 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
913 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
913 | { |
914 | { |
914 | do |
915 | do |
915 | { |
916 | { |
916 | motorindex1++; |
917 | motorindex1++; |
917 | motorindex1%=12; |
918 | motorindex1%=12; |
918 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
919 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
919 | if(motorindex1 == motorindex2) break; |
920 | if(motorindex1 == motorindex2) break; |
920 | } |
921 | } |
921 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
922 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
922 | 923 | ||
923 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
924 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
924 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
925 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
925 | UART1_Request_MotorData = FALSE; |
926 | UART1_Request_MotorData = FALSE; |
926 | } |
927 | } |
927 | else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE)) |
928 | else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE)) |
928 | { |
929 | { |
929 | CreateNmeaGGA(); |
930 | CreateNmeaGGA(); |
930 | NMEA_Timer = SetDelay(NMEA_Interval); |
931 | NMEA_Timer = SetDelay(NMEA_Interval); |
931 | } |
932 | } |
932 | 933 | ||
933 | /* |
934 | /* |
934 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
935 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
935 | { |
936 | { |
936 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
937 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
937 | UART1_ConfirmFrame = 0; |
938 | UART1_ConfirmFrame = 0; |
938 | } |
939 | } |
939 | */ |
940 | */ |
940 | /* |
941 | /* |
941 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
942 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
942 | { |
943 | { |
943 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
944 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
944 | UART1_Request_ExternalControl = FALSE; |
945 | UART1_Request_ExternalControl = FALSE; |
945 | } |
946 | } |
946 | */ |
947 | */ |
947 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
948 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
948 | { |
949 | { |
949 | if(UART1_DisplayLine > 3) |
950 | if(UART1_DisplayLine > 3) |
950 | { |
951 | { |
951 | Menu_Update(UART1_DisplayKeys); |
952 | Menu_Update(UART1_DisplayKeys); |
952 | UART1_DisplayKeys = 0; |
953 | UART1_DisplayKeys = 0; |
953 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
954 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
954 | } |
955 | } |
955 | else |
956 | else |
956 | { |
957 | { |
957 | UART1_DisplayLine = 2; |
958 | UART1_DisplayLine = 2; |
958 | sprintf(text,"!!! incompatible !!!"); |
959 | sprintf(text,"!!! incompatible !!!"); |
959 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
960 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
960 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
961 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
961 | } |
962 | } |
962 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
963 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
963 | UART1_Request_Display = FALSE; |
964 | UART1_Request_Display = FALSE; |
964 | } |
965 | } |
965 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
966 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
966 | { |
967 | { |
967 | Menu_Update(0); |
968 | Menu_Update(0); |
968 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
969 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
969 | UART1_Request_Display1 = FALSE; |
970 | UART1_Request_Display1 = FALSE; |
970 | } |
971 | } |
971 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
972 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
972 | { |
973 | { |
973 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
974 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
974 | UART1_Request_VersionInfo = FALSE; |
975 | UART1_Request_VersionInfo = FALSE; |
975 | } |
976 | } |
976 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
977 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
977 | { |
978 | { |
978 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
979 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
979 | UART1_Request_SystemTime = FALSE; |
980 | UART1_Request_SystemTime = FALSE; |
980 | } |
981 | } |
981 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
982 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
982 | { |
983 | { |
983 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
984 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
984 | UART1_Request_ErrorMessage = FALSE; |
985 | UART1_Request_ErrorMessage = FALSE; |
985 | } |
986 | } |
986 | #ifdef FOLLOW_ME |
987 | #ifdef FOLLOW_ME |
987 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
988 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
988 | { |
989 | { |
989 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
990 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
990 | { |
991 | { |
991 | TransmitAlsoToFC = 1; |
992 | TransmitAlsoToFC = 1; |
992 | // update FollowMe content |
993 | // update FollowMe content |
993 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
994 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
994 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
995 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
995 | FollowMe.Position.Status = NEWDATA; |
996 | FollowMe.Position.Status = NEWDATA; |
996 | FollowMe.Position.Altitude = 1; |
997 | FollowMe.Position.Altitude = 1; |
997 | // 0 -> no Orientation |
998 | // 0 -> no Orientation |
998 | // 1-360 -> CompassCourse Setpoint |
999 | // 1-360 -> CompassCourse Setpoint |
999 | // -1 -> points to WP1 -> itself |
1000 | // -1 -> points to WP1 -> itself |
1000 | FollowMe.Heading = -1; |
1001 | FollowMe.Heading = -1; |
1001 | FollowMe.ToleranceRadius = 1; |
1002 | FollowMe.ToleranceRadius = 1; |
1002 | FollowMe.HoldTime = 60; |
1003 | FollowMe.HoldTime = 60; |
1003 | FollowMe.Event_Flag = 1; |
1004 | FollowMe.Event_Flag = 1; |
1004 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
1005 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
1005 | FollowMe.Type = POINT_TYPE_WP; |
1006 | FollowMe.Type = POINT_TYPE_WP; |
1006 | FollowMe.WP_EventChannelValue = 100; // set servo value |
1007 | FollowMe.WP_EventChannelValue = 100; // set servo value |
1007 | FollowMe.AltitudeRate = 0; // do not change height |
1008 | FollowMe.AltitudeRate = 0; // do not change height |
1008 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
1009 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
1009 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
1010 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
1010 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
1011 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
1011 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
1012 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
1012 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
1013 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
1013 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
1014 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
1014 | FollowMe.reserve[0] = 0; // reserve |
1015 | FollowMe.reserve[0] = 0; // reserve |
1015 | FollowMe.reserve[1] = 0; // reserve |
1016 | FollowMe.reserve[1] = 0; // reserve |
1016 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
1017 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
1017 | } |
1018 | } |
1018 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
1019 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
1019 | } |
1020 | } |
1020 | #endif |
1021 | #endif |
1021 | #ifdef DEBUG // only include functions if DEBUG is defined |
1022 | #ifdef DEBUG // only include functions if DEBUG is defined |
1022 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
1023 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
1023 | { |
1024 | { |
1024 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
1025 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
1025 | SendDebugOutput = 0; |
1026 | SendDebugOutput = 0; |
1026 | } |
1027 | } |
1027 | #endif |
1028 | #endif |
1028 | UART1_Transmit(); // output pending bytes in tx buffer |
1029 | UART1_Transmit(); // output pending bytes in tx buffer |
1029 | } |
1030 | } |
1030 | 1031 | ||
1031 | 1032 |