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