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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | #include <stdio.h> |
56 | #include <stdio.h> |
57 | #include <stdlib.h> |
57 | #include <stdlib.h> |
58 | #include <stdarg.h> |
58 | #include <stdarg.h> |
59 | #include <string.h> |
59 | #include <string.h> |
60 | 60 | ||
61 | #include "91x_lib.h" |
61 | #include "91x_lib.h" |
62 | #include "main.h" |
62 | #include "main.h" |
63 | #include "config.h" |
63 | #include "config.h" |
64 | #include "menu.h" |
64 | #include "menu.h" |
65 | #include "GPS.h" |
65 | #include "GPS.h" |
66 | #include "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 "compass.h" |
73 | #include "compass.h" |
74 | #include "waypoints.h" |
74 | #include "waypoints.h" |
75 | #include "mkprotocol.h" |
75 | #include "mkprotocol.h" |
76 | #include "params.h" |
76 | #include "params.h" |
77 | #include "fifo.h" |
77 | #include "fifo.h" |
78 | #include "debug.h" |
78 | #include "debug.h" |
79 | #include "spi_slave.h" |
79 | #include "spi_slave.h" |
80 | #include "ftphelper.h" |
80 | #include "ftphelper.h" |
81 | #include "led.h" |
81 | #include "led.h" |
82 | #include "fat16.h" |
82 | #include "fat16.h" |
83 | #include "eeprom.h" |
83 | #include "eeprom.h" |
84 | 84 | ||
85 | #define LIC_CMD_READ_LICENSE 1 |
85 | #define LIC_CMD_READ_LICENSE 1 |
86 | #define LIC_CMD_WRITE_LICENSE 2 |
86 | #define LIC_CMD_WRITE_LICENSE 2 |
87 | #define LIC_CMD_ERASE_LICENSE 3 |
87 | #define LIC_CMD_ERASE_LICENSE 3 |
88 | 88 | ||
89 | 89 | ||
90 | #define FALSE 0 |
90 | #define FALSE 0 |
91 | #define TRUE 1 |
91 | #define TRUE 1 |
92 | 92 | ||
93 | #define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
93 | #define ABO_TIMEOUT 8000 // disable abo after 8 seconds |
94 | u32 UART1_AboTimeOut = 0; |
94 | u32 UART1_AboTimeOut = 0; |
95 | 95 | ||
96 | u8 UART1_Request_VersionInfo = FALSE; |
96 | u8 UART1_Request_VersionInfo = FALSE; |
97 | u8 UART1_Request_ExternalControl= FALSE; |
97 | u8 UART1_Request_ExternalControl= FALSE; |
98 | u8 UART1_Request_Display = FALSE; |
98 | u8 UART1_Request_Display = FALSE; |
99 | u8 UART1_Request_Display1 = FALSE; |
99 | u8 UART1_Request_Display1 = FALSE; |
100 | u8 UART1_Request_DebugData = FALSE; |
100 | u8 UART1_Request_DebugData = FALSE; |
101 | u8 UART1_Request_DebugLabel = 255; |
101 | u8 UART1_Request_DebugLabel = 255; |
102 | u8 UART1_Request_NaviData = FALSE; |
102 | u8 UART1_Request_NaviData = FALSE; |
103 | u8 UART1_Request_ErrorMessage = FALSE; |
103 | u8 UART1_Request_ErrorMessage = FALSE; |
104 | u8 UART1_Request_WritePoint = 0xFF; |
104 | u8 UART1_Request_WritePoint = 0xFF; |
105 | u8 UART1_Request_ReadPoint = 0; |
105 | u8 UART1_Request_ReadPoint = 0; |
106 | u8 UART1_Request_Data3D = FALSE; |
106 | u8 UART1_Request_Data3D = FALSE; |
107 | u8 UART1_Request_MotorData = FALSE; |
107 | u8 UART1_Request_MotorData = FALSE; |
108 | u8 UART1_Request_Echo = FALSE; |
108 | u8 UART1_Request_Echo = FALSE; |
109 | u8 UART1_Request_ParameterId = 0; |
109 | u8 UART1_Request_ParameterId = 0; |
110 | u8 UART1_Request_WPLStore = FALSE; |
110 | u8 UART1_Request_WPLStore = FALSE; |
111 | u8 UART1_Request_Parameter = FALSE; |
111 | u8 UART1_Request_Parameter = FALSE; |
112 | u8 UART1_Request_SystemTime = FALSE; |
112 | u8 UART1_Request_SystemTime = FALSE; |
113 | u8 UART1_DisplayKeys = 0; |
113 | u8 UART1_DisplayKeys = 0; |
114 | u8 UART1_DisplayLine = 0; |
114 | u8 UART1_DisplayLine = 0; |
115 | u8 UART1_ConfirmFrame = 0; |
115 | u8 UART1_ConfirmFrame = 0; |
116 | u8 UART1_Request_FTP = FALSE; |
116 | u8 UART1_Request_FTP = FALSE; |
117 | u8 UART1_Request_LicenseString = FALSE; |
117 | u8 UART1_Request_LicenseString = FALSE; |
118 | u8 LastTransmittedFCStatusFlags2 = 0; |
118 | u8 LastTransmittedFCStatusFlags2 = 0; |
119 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
119 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
120 | u8 Send_NMEA_RMC = FALSE; |
120 | u8 Send_NMEA_RMC = FALSE; |
121 | 121 | ||
122 | UART_TypeDef *DebugUART = UART1; |
122 | UART_TypeDef *DebugUART = UART1; |
123 | 123 | ||
124 | #ifdef FOLLOW_ME |
124 | #ifdef FOLLOW_ME |
125 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
125 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
126 | u32 UART1_FollowMe_Timer = 0; |
126 | u32 UART1_FollowMe_Timer = 0; |
127 | Point_t FollowMe; |
127 | Point_t FollowMe; |
128 | #endif |
128 | #endif |
129 | 129 | ||
130 | // the primary rx fifo |
130 | // the primary rx fifo |
131 | #define UART1_RX_FIFO_LEN 1024 |
131 | #define UART1_RX_FIFO_LEN 1024 |
132 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
132 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
133 | fifo_t UART1_rx_fifo; |
133 | fifo_t UART1_rx_fifo; |
134 | 134 | ||
135 | // the rx buffer |
135 | // the rx buffer |
136 | #define UART1_RX_BUFFER_LEN 1024 |
136 | #define UART1_RX_BUFFER_LEN 1024 |
137 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
137 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
138 | Buffer_t UART1_rx_buffer; |
138 | Buffer_t UART1_rx_buffer; |
139 | 139 | ||
140 | // the tx buffer |
140 | // the tx buffer |
141 | #define UART1_TX_BUFFER_LEN 1024 |
141 | #define UART1_TX_BUFFER_LEN 1024 |
142 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
142 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
143 | Buffer_t UART1_tx_buffer; |
143 | Buffer_t UART1_tx_buffer; |
144 | 144 | ||
145 | volatile u8 SerialLinkOkay = 0; |
145 | volatile u8 SerialLinkOkay = 0; |
146 | 146 | ||
147 | u8 text[200]; |
147 | u8 text[200]; |
148 | u8 *LicensePtr = UART1_tbuffer; |
148 | u8 *LicensePtr = UART1_tbuffer; |
149 | 149 | ||
150 | const u8 ANALOG_LABEL[32][16] = |
150 | const u8 ANALOG_LABEL[32][16] = |
151 | { |
151 | { |
152 | //1234567890123456 |
152 | //1234567890123456 |
153 | "AngleNick ", //0 |
153 | "AngleNick ", //0 |
154 | "AngleRoll ", |
154 | "AngleRoll ", |
155 | "AccNick ", |
155 | "AccNick ", |
156 | "AccRoll ", |
156 | "AccRoll ", |
157 | "Altitude [0.1m] ", |
157 | "Altitude [0.1m] ", |
158 | "FC-Flags ", //5 |
158 | "FC-Flags ", //5 |
159 | "NC-Flags ", |
159 | "NC-Flags ", |
160 | "Voltage [0.1V] ", |
160 | "Voltage [0.1V] ", |
161 | "Current [0.1A] ", |
161 | "Current [0.1A] ", |
162 | "GPS Data ", |
162 | "GPS Data ", |
163 | "CompassHeading ", //10 |
163 | "CompassHeading ", //10 |
164 | "GyroHeading ", |
164 | "GyroHeading ", |
165 | "SPI Error ", // achtung: muss auf 12 bleiben |
165 | "SPI Error ", // achtung: muss auf 12 bleiben |
166 | "SPI Okay ", |
166 | "SPI Okay ", |
167 | "I2C Error ", |
167 | "I2C Error ", |
168 | "I2C Okay ", //15 |
168 | "I2C Okay ", //15 |
169 | "16 ", |
169 | "16 ", |
170 | "17 ", |
170 | "17 ", |
171 | "18 ", |
171 | "18 ", |
172 | "19 ", // SD-Card-time |
172 | "19 ", // SD-Card-time |
173 | "EarthMagnet [%] ", //20 |
173 | "EarthMagnet [%] ", //20 |
174 | "Ground Speed ", // "Z_Speed ", |
174 | "Ground Speed ", // "Z_Speed ", |
175 | "N_Speed ", |
175 | "N_Speed ", |
176 | "E_Speed ", |
176 | "E_Speed ", |
177 | "Magnet X ", |
177 | "Magnet X ", |
178 | "Magnet Y ", //25 |
178 | "Magnet Y ", //25 |
179 | "Magnet Z ", |
179 | "Magnet Z ", |
180 | "Distance N ", |
180 | "Distance N ", |
181 | "Distance E ", |
181 | "Distance E ", |
182 | "-GPS_Nick ", |
182 | "-GPS_Nick ", |
183 | "-GPS_Roll ", //30 |
183 | "-GPS_Roll ", //30 |
184 | "Used_Sats " |
184 | "Used_Sats " |
185 | }; |
185 | }; |
186 | 186 | ||
187 | typedef struct |
187 | typedef struct |
188 | { |
188 | { |
189 | u8 Index; |
189 | u8 Index; |
190 | u8 Status; |
190 | u8 Status; |
191 | } __attribute__((packed)) WPL_Answer_t; |
191 | } __attribute__((packed)) WPL_Answer_t; |
192 | WPL_Answer_t WPL_Answer; |
192 | WPL_Answer_t WPL_Answer; |
193 | 193 | ||
194 | DebugOut_t DebugOut; |
194 | DebugOut_t DebugOut; |
195 | ExternControl_t ExternControl; |
195 | ExternControl_t ExternControl; |
196 | UART_VersionInfo_t UART_VersionInfo; |
196 | UART_VersionInfo_t UART_VersionInfo; |
197 | NaviData_t NaviData; |
197 | NaviData_t NaviData; |
198 | Data3D_t Data3D; |
198 | Data3D_t Data3D; |
199 | 199 | ||
200 | u16 Echo; // 2 bytes recieved will be sent back as echo |
200 | u16 Echo; // 2 bytes recieved will be sent back as echo |
201 | 201 | ||
202 | u32 UART1_DebugData_Timer = 0; |
202 | u32 UART1_DebugData_Timer = 0; |
203 | u32 UART1_DebugData_Interval = 0; // in ms |
203 | u32 UART1_DebugData_Interval = 0; // in ms |
204 | u32 UART1_NaviData_Timer = 0; |
204 | u32 UART1_NaviData_Timer = 0; |
205 | u32 UART1_NaviData_Interval = 0; // in ms |
205 | u32 UART1_NaviData_Interval = 0; // in ms |
206 | u32 UART1_Data3D_Timer = 0; |
206 | u32 UART1_Data3D_Timer = 0; |
207 | u32 UART1_Data3D_Interval = 0; // in ms |
207 | u32 UART1_Data3D_Interval = 0; // in ms |
208 | u32 UART1_MotorData_Timer = 0; |
208 | u32 UART1_MotorData_Timer = 0; |
209 | u32 UART1_MotorData_Interval = 0; // in ms |
209 | u32 UART1_MotorData_Interval = 0; // in ms |
210 | u32 UART1_Display_Timer = 0; |
210 | u32 UART1_Display_Timer = 0; |
211 | u32 UART1_Display_Interval = 0; // in ms |
211 | u32 UART1_Display_Interval = 0; // in ms |
212 | u32 NMEA_Timer = 0; |
212 | u32 NMEA_Timer = 0; |
213 | u32 NMEA_Interval = 0;// in ms |
213 | u32 NMEA_Interval = 0;// in ms |
214 | 214 | ||
215 | /********************************************************/ |
215 | /********************************************************/ |
216 | /* Initialization the UART1 */ |
216 | /* Initialization the UART1 */ |
217 | /********************************************************/ |
217 | /********************************************************/ |
218 | void UART1_Init (void) |
218 | void UART1_Init (void) |
219 | { |
219 | { |
220 | GPIO_InitTypeDef GPIO_InitStructure; |
220 | GPIO_InitTypeDef GPIO_InitStructure; |
221 | UART_InitTypeDef UART_InitStructure; |
221 | UART_InitTypeDef UART_InitStructure; |
222 | 222 | ||
223 | // initialize txd buffer |
223 | // initialize txd buffer |
224 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
224 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
225 | 225 | ||
226 | // initialize rxd buffer |
226 | // initialize rxd buffer |
227 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
227 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
228 | 228 | ||
229 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
229 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
230 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
230 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
231 | 231 | ||
232 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
232 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
233 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
233 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
234 | 234 | ||
235 | /*Configure UART1_Rx pin GPIO3.2*/ |
235 | /*Configure UART1_Rx pin GPIO3.2*/ |
236 | GPIO_StructInit(&GPIO_InitStructure); |
236 | GPIO_StructInit(&GPIO_InitStructure); |
237 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
237 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
238 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
238 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
239 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
239 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
240 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
240 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
241 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
241 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
242 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
242 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
243 | 243 | ||
244 | /*Configure UART1_Tx pin GPIO3.3*/ |
244 | /*Configure UART1_Tx pin GPIO3.3*/ |
245 | GPIO_StructInit(&GPIO_InitStructure); |
245 | GPIO_StructInit(&GPIO_InitStructure); |
246 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
246 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
247 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
247 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
248 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
248 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
249 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
249 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
250 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
250 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
251 | 251 | ||
252 | /* UART1 configured as follow: |
252 | /* UART1 configured as follow: |
253 | - Word Length = 8 Bits |
253 | - Word Length = 8 Bits |
254 | - One Stop Bit |
254 | - One Stop Bit |
255 | - No parity |
255 | - No parity |
256 | - BaudRate = 57600 baud |
256 | - BaudRate = 57600 baud |
257 | - Hardware flow control Disabled |
257 | - Hardware flow control Disabled |
258 | - Receive and transmit enabled |
258 | - Receive and transmit enabled |
259 | - Receive and transmit FIFOs are Disabled |
259 | - Receive and transmit FIFOs are Disabled |
260 | */ |
260 | */ |
261 | UART_StructInit(&UART_InitStructure); |
261 | UART_StructInit(&UART_InitStructure); |
262 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
262 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
263 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
263 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
264 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
264 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
265 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
265 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
266 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
266 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
267 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
267 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
268 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
268 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
269 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
269 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
270 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
270 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
271 | 271 | ||
272 | UART_DeInit(UART1); // reset uart 1 to default |
272 | UART_DeInit(UART1); // reset uart 1 to default |
273 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
273 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
274 | // enable uart 1 interrupts selective |
274 | // enable uart 1 interrupts selective |
275 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
275 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
276 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
276 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
277 | // configure the uart 1 interupt line |
277 | // configure the uart 1 interupt line |
278 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
278 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
279 | // enable the uart 1 IRQ |
279 | // enable the uart 1 IRQ |
280 | VIC_ITCmd(UART1_ITLine, ENABLE); |
280 | VIC_ITCmd(UART1_ITLine, ENABLE); |
281 | 281 | ||
282 | // initialize the debug timer |
282 | // initialize the debug timer |
283 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
283 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
284 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
284 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
285 | NMEA_Timer = SetDelay(14000); |
285 | NMEA_Timer = SetDelay(14000); |
286 | 286 | ||
287 | // Fill Version Info Structure |
287 | // Fill Version Info Structure |
288 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
288 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
289 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
289 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
290 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
290 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
291 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
291 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
292 | UART_VersionInfo.HWMajor = Version_HW & 0x7F; |
292 | UART_VersionInfo.HWMajor = Version_HW & 0x7F; |
293 | UART_VersionInfo.BL_Firmware = 255; |
293 | UART_VersionInfo.BL_Firmware = 255; |
294 | UART_VersionInfo.Flags = 0; |
294 | UART_VersionInfo.Flags = 0; |
295 | UART_VersionInfo.Reserved1 = 0; |
295 | UART_VersionInfo.Reserved1 = 0; |
296 | NaviData.Version = NAVIDATA_VERSION; |
296 | NaviData.Version = NAVIDATA_VERSION; |
297 | 297 | ||
298 | UART1_PutString("\r\n UART1 init...ok"); |
298 | UART1_PutString("\r\n UART1 init...ok"); |
299 | } |
299 | } |
300 | 300 | ||
301 | 301 | ||
302 | /****************************************************************/ |
302 | /****************************************************************/ |
303 | /* USART1 receiver ISR */ |
303 | /* USART1 receiver ISR */ |
304 | /****************************************************************/ |
304 | /****************************************************************/ |
305 | void UART1_IRQHandler(void) |
305 | void UART1_IRQHandler(void) |
306 | { |
306 | { |
307 | static u8 abortState = 0; |
307 | static u8 abortState = 0; |
308 | u8 c; |
308 | u8 c; |
309 | 309 | ||
310 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
310 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
311 | { |
311 | { |
312 | // clear the pending bits! |
312 | // clear the pending bits! |
313 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
313 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
314 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
314 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
315 | // if debug UART is not UART1 |
315 | // if debug UART is not UART1 |
316 | if (DebugUART != UART1) |
316 | if (DebugUART != UART1) |
317 | { // forward received data to the debug UART tx buffer |
317 | { // forward received data to the debug UART tx buffer |
318 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
318 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
319 | { |
319 | { |
320 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
320 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
321 | c = UART_ReceiveData(UART1); |
321 | c = UART_ReceiveData(UART1); |
322 | 322 | ||
323 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
323 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
324 | switch (abortState) |
324 | switch (abortState) |
325 | { |
325 | { |
326 | case 0: |
326 | case 0: |
327 | if (c == 27) abortState++; |
327 | if (c == 27) abortState++; |
328 | break; |
328 | break; |
329 | case 1: |
329 | case 1: |
330 | if (c == 27) abortState++; |
330 | if (c == 27) abortState++; |
331 | else abortState = 0; |
331 | else abortState = 0; |
332 | break; |
332 | break; |
333 | case 2: |
333 | case 2: |
334 | if (c == 0x55) abortState++; |
334 | if (c == 0x55) abortState++; |
335 | else abortState = 0; |
335 | else abortState = 0; |
336 | break; |
336 | break; |
337 | case 3: |
337 | case 3: |
338 | if (c == 0xAA) abortState++; |
338 | if (c == 0xAA) abortState++; |
339 | else abortState = 0; |
339 | else abortState = 0; |
340 | break; |
340 | break; |
341 | case 4: |
341 | case 4: |
342 | if (c == 0x00) |
342 | if (c == 0x00) |
343 | { |
343 | { |
344 | if(DebugUART == UART0) |
344 | if(DebugUART == UART0) |
345 | { |
345 | { |
346 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
346 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
347 | TIMER2_Init(); // enbable servo outputs |
347 | TIMER2_Init(); // enbable servo outputs |
348 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
348 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
349 | } |
349 | } |
350 | DebugUART = UART1; |
350 | DebugUART = UART1; |
351 | } |
351 | } |
352 | abortState = 0; |
352 | abortState = 0; |
353 | break; |
353 | break; |
354 | } // end switch abort state |
354 | } // end switch abort state |
355 | // if the Debug uart is not UART1, redirect input to the Debug UART |
355 | // if the Debug uart is not UART1, redirect input to the Debug UART |
356 | if (DebugUART != UART1) |
356 | if (DebugUART != UART1) |
357 | { |
357 | { |
358 | // wait for space in the tx buffer of the DebugUART |
358 | // wait for space in the tx buffer of the DebugUART |
359 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
359 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
360 | // move byte to the tx fifo of the debug uart |
360 | // move byte to the tx fifo of the debug uart |
361 | UART_SendData(DebugUART, c); |
361 | UART_SendData(DebugUART, c); |
362 | } |
362 | } |
363 | } |
363 | } |
364 | } |
364 | } |
365 | else // DebugUART == UART1 (normal operation) |
365 | else // DebugUART == UART1 (normal operation) |
366 | { |
366 | { |
367 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
367 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
368 | { // some byes in the hardware fifo |
368 | { // some byes in the hardware fifo |
369 | // get byte from hardware fifo |
369 | // get byte from hardware fifo |
370 | c = UART_ReceiveData(UART1); |
370 | c = UART_ReceiveData(UART1); |
371 | // put into the software fifo |
371 | // put into the software fifo |
372 | if(!fifo_put(&UART1_rx_fifo, c)) |
372 | if(!fifo_put(&UART1_rx_fifo, c)) |
373 | { // fifo overflow |
373 | { // fifo overflow |
374 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
374 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
375 | } |
375 | } |
376 | } // EOF while some byes in the hardware fifo |
376 | } // EOF while some byes in the hardware fifo |
377 | } // eof DebugUart = UART1 |
377 | } // eof DebugUart = UART1 |
378 | } |
378 | } |
379 | 379 | ||
380 | 380 | ||
381 | 381 | ||
382 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
382 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
383 | } |
383 | } |
384 | 384 | ||
385 | /**************************************************************/ |
385 | /**************************************************************/ |
386 | /* Process incomming data from debug uart */ |
386 | /* Process incomming data from debug uart */ |
387 | /**************************************************************/ |
387 | /**************************************************************/ |
388 | void UART1_ProcessRxData(void) |
388 | void UART1_ProcessRxData(void) |
389 | { |
389 | { |
390 | // return on forwarding uart or unlocked rx buffer |
390 | // return on forwarding uart or unlocked rx buffer |
391 | u8 c; |
391 | u8 c; |
392 | if(DebugUART != UART1) return; |
392 | if(DebugUART != UART1) return; |
393 | // if rx buffer is not locked |
393 | // if rx buffer is not locked |
394 | if(UART1_rx_buffer.Locked == FALSE) |
394 | if(UART1_rx_buffer.Locked == FALSE) |
395 | { |
395 | { |
396 | //collect data from primary rx fifo |
396 | //collect data from primary rx fifo |
397 | while(fifo_get(&UART1_rx_fifo, &c)) |
397 | while(fifo_get(&UART1_rx_fifo, &c)) |
398 | { |
398 | { |
399 | // break if complete frame is collected |
399 | // break if complete frame is collected |
400 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
400 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
401 | } |
401 | } |
402 | } |
402 | } |
403 | if(UART1_rx_buffer.Locked == FALSE) return; |
403 | if(UART1_rx_buffer.Locked == FALSE) return; |
404 | 404 | ||
405 | Point_t * pPoint = NULL; |
405 | Point_t * pPoint = NULL; |
406 | SerialMsg_t SerialMsg; |
406 | SerialMsg_t SerialMsg; |
407 | 407 | ||
408 | // analyze header first |
408 | // analyze header first |
409 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
409 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
410 | if( SerialMsg.Address == FC_ADDRESS ) |
410 | if( SerialMsg.Address == FC_ADDRESS ) |
411 | { |
411 | { |
412 | switch(SerialMsg.CmdID) |
412 | switch(SerialMsg.CmdID) |
413 | { |
413 | { |
414 | // case 'v': // version |
414 | // case 'v': // version |
415 | case 'b': // extern control |
415 | case 'b': // extern control |
416 | UART1_ExternalControlConfirmFrame = 1; |
416 | UART1_ExternalControlConfirmFrame = 1; |
417 | case 'y': // serial poti values |
417 | case 'y': // serial poti values |
418 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
418 | Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
419 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
419 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
420 | return; //end process rx data |
420 | return; //end process rx data |
421 | break; |
421 | break; |
422 | } |
422 | } |
423 | } |
423 | } |
424 | 424 | ||
425 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
425 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
426 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
426 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
427 | switch(SerialMsg.Address) // check for Slave Address |
427 | switch(SerialMsg.Address) // check for Slave Address |
428 | { |
428 | { |
429 | case NC_ADDRESS: // own Slave Address |
429 | case NC_ADDRESS: // own Slave Address |
430 | switch(SerialMsg.CmdID) |
430 | switch(SerialMsg.CmdID) |
431 | { |
431 | { |
432 | case 't': // request for the GPS time |
432 | case 't': // request for the GPS time |
433 | UART1_Request_SystemTime = TRUE; |
433 | UART1_Request_SystemTime = TRUE; |
434 | break; |
434 | break; |
435 | 435 | ||
436 | case 'm': // request for the license string |
436 | case 'm': // request for the license string |
437 | UART1_Request_LicenseString = SerialMsg.pData[0]; |
437 | UART1_Request_LicenseString = SerialMsg.pData[0]; |
438 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && (UART_VersionInfo.HWMajor >= 20)) |
438 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && (UART_VersionInfo.HWMajor >= 20)) |
439 | { |
439 | { |
440 | memcpy(LicensePtr, &SerialMsg.pData[1],LICENSE_SIZE_TEXT); // copy ftp parameter |
440 | memcpy(LicensePtr, &SerialMsg.pData[1],LICENSE_SIZE_TEXT); // copy ftp parameter |
441 | } |
441 | } |
442 | break; |
442 | break; |
443 | case 'f': // ftp command |
443 | case 'f': // ftp command |
444 | UART1_Request_FTP = SerialMsg.pData[0]; |
444 | UART1_Request_FTP = SerialMsg.pData[0]; |
445 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
445 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
446 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
446 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
447 | break; |
447 | break; |
448 | 448 | ||
449 | case 'z': // connection checker |
449 | case 'z': // connection checker |
450 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
450 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
451 | UART1_Request_Echo = TRUE; |
451 | UART1_Request_Echo = TRUE; |
452 | break; |
452 | break; |
453 | 453 | ||
454 | case 'e': // request for the text of the error status |
454 | case 'e': // request for the text of the error status |
455 | UART1_Request_ErrorMessage = TRUE; |
455 | UART1_Request_ErrorMessage = TRUE; |
456 | break; |
456 | break; |
457 | 457 | ||
458 | case 's':// new target position |
458 | case 's':// new target position |
459 | pPoint = (Point_t*)SerialMsg.pData; |
459 | pPoint = (Point_t*)SerialMsg.pData; |
460 | if(pPoint->Position.Status == NEWDATA) |
460 | if(pPoint->Position.Status == NEWDATA) |
461 | { |
461 | { |
462 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
462 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
463 | //pPoint->Index = 1; // must be one after empty list |
463 | //pPoint->Index = 1; // must be one after empty list |
464 | PointList_SetAt(pPoint); |
464 | PointList_SetAt(pPoint); |
465 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
465 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
466 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
466 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
467 | BeepTime = 50; |
467 | BeepTime = 50; |
468 | } |
468 | } |
469 | else |
469 | else |
470 | if((pPoint->Position.Status == SIMULATION) && !(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN)) |
470 | if((pPoint->Position.Status == SIMULATION) && !(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN)) |
471 | { |
471 | { |
- | 472 | if(pPoint->Event_Flag & SIMULATION_MOTOR_ON) |
|
- | 473 | { |
|
472 | if(pPoint->Event_Flag & SIMULATION_MOTOR_ON) GPSPos_Copy(&(pPoint->Position), &SimulationPosition); // update hold position |
474 | GPSPos_Copy(&(pPoint->Position), &SimulationPosition); // update hold position |
- | 475 | CompassDirectionAtMotorStart = SimulatedDirection*10; |
|
- | 476 | } |
|
473 | if(!(SimulationFlags & SIMULATION_MOTOR_ON) && (pPoint->Event_Flag & SIMULATION_MOTOR_ON)) |
477 | if(!(SimulationFlags & SIMULATION_MOTOR_ON) && (pPoint->Event_Flag & SIMULATION_MOTOR_ON)) |
474 | { |
478 | { |
475 | SimulationFlags = pPoint->Event_Flag | SIMULATION_MOTOR_START; // dann steht da noch nicht "SIMULATION_MOTOR_ON" drin |
479 | SimulationFlags = pPoint->Event_Flag | SIMULATION_MOTOR_START; // dann steht da noch nicht "SIMULATION_MOTOR_ON" drin |
476 | SpeakHoTT = SPEAK_STARTING; |
480 | SpeakHoTT = SPEAK_STARTING; |
477 | } |
481 | } |
478 | else |
482 | else |
479 | if(!(pPoint->Event_Flag & SIMULATION_MOTOR_ON) && (SimulationFlags & SIMULATION_MOTOR_ON)) |
483 | if(!(pPoint->Event_Flag & SIMULATION_MOTOR_ON) && (SimulationFlags & SIMULATION_MOTOR_ON)) |
480 | { |
484 | { |
481 | SimulationFlags = pPoint->Event_Flag; |
485 | SimulationFlags = pPoint->Event_Flag; |
482 | SpeakHoTT = SPEAK_MK_OFF; |
486 | SpeakHoTT = SPEAK_MK_OFF; |
483 | BeepTime = 50; |
487 | BeepTime = 50; |
484 | } |
488 | } |
485 | else |
489 | else |
486 | SimulationFlags = pPoint->Event_Flag | (SimulationFlags & SIMULATION_MOTOR_START); |
490 | SimulationFlags = pPoint->Event_Flag | (SimulationFlags & SIMULATION_MOTOR_START); |
487 | } |
491 | } |
488 | break; |
492 | break; |
489 | case 'u': // redirect debug uart |
493 | case 'u': // redirect debug uart |
490 | switch(SerialMsg.pData[0]) |
494 | switch(SerialMsg.pData[0]) |
491 | { |
495 | { |
492 | case UART_FLIGHTCTRL: |
496 | case UART_FLIGHTCTRL: |
493 | UART2_Init(); // initialize UART2 to FC pins |
497 | UART2_Init(); // initialize UART2 to FC pins |
494 | fifo_purge(&UART1_rx_fifo); |
498 | fifo_purge(&UART1_rx_fifo); |
495 | TIMER2_Deinit(); // reduce irq load |
499 | TIMER2_Deinit(); // reduce irq load |
496 | DebugUART = UART2; |
500 | DebugUART = UART2; |
497 | break; |
501 | break; |
498 | case UART_MK3MAG: |
502 | case UART_MK3MAG: |
499 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
503 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
500 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
504 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
501 | GPSData.Status = INVALID; |
505 | GPSData.Status = INVALID; |
502 | fifo_purge(&UART1_rx_fifo); |
506 | fifo_purge(&UART1_rx_fifo); |
503 | DebugUART = UART0; |
507 | DebugUART = UART0; |
504 | break; |
508 | break; |
505 | case UART_MKGPS: |
509 | case UART_MKGPS: |
506 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
510 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
507 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
511 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
508 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
512 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
509 | GPSData.Status = INVALID; |
513 | GPSData.Status = INVALID; |
510 | fifo_purge(&UART1_rx_fifo); |
514 | fifo_purge(&UART1_rx_fifo); |
511 | DebugUART = UART0; |
515 | DebugUART = UART0; |
512 | break; |
516 | break; |
513 | default: |
517 | default: |
514 | break; |
518 | break; |
515 | } |
519 | } |
516 | break; |
520 | break; |
517 | 521 | ||
518 | case 'w':// Set point in list at index |
522 | case 'w':// Set point in list at index |
519 | { |
523 | { |
520 | pPoint = (Point_t*)SerialMsg.pData; |
524 | pPoint = (Point_t*)SerialMsg.pData; |
521 | 525 | ||
522 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
526 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
523 | { |
527 | { |
524 | PointList_Clear(); |
528 | PointList_Clear(); |
525 | GPS_pWaypoint = PointList_WPBegin(); |
529 | GPS_pWaypoint = PointList_WPBegin(); |
526 | UART1_Request_WritePoint = 0; // return new point count |
530 | UART1_Request_WritePoint = 0; // return new point count |
527 | NewWaypointsReceived = 1; |
531 | NewWaypointsReceived = 1; |
528 | } |
532 | } |
529 | else |
533 | else |
530 | { // update WP in list at index |
534 | { // update WP in list at index |
531 | if(pPoint->Index > MaxNumberOfWaypoints) |
535 | if(pPoint->Index > MaxNumberOfWaypoints) |
532 | { |
536 | { |
533 | UART1_Request_WritePoint = 254; |
537 | UART1_Request_WritePoint = 254; |
534 | pPoint->Index = MaxNumberOfWaypoints; |
538 | pPoint->Index = MaxNumberOfWaypoints; |
535 | } |
539 | } |
536 | else UART1_Request_WritePoint = PointList_SetAt(pPoint); |
540 | else UART1_Request_WritePoint = PointList_SetAt(pPoint); |
537 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
541 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
538 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
542 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
539 | if(UART1_Request_WritePoint == pPoint->Index) |
543 | if(UART1_Request_WritePoint == pPoint->Index) |
540 | { |
544 | { |
541 | BeepTime = 500; |
545 | BeepTime = 500; |
542 | if(UART1_Request_WritePoint == 1) SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
546 | if(UART1_Request_WritePoint == 1) SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
543 | } |
547 | } |
544 | } |
548 | } |
545 | } |
549 | } |
546 | break; |
550 | break; |
547 | 551 | ||
548 | case 'x':// Read Waypoint from List |
552 | case 'x':// Read Waypoint from List |
549 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
553 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
550 | break; |
554 | break; |
551 | 555 | ||
552 | case 'i':// Store WP List to file |
556 | case 'i':// Store WP List to file |
553 | memcpy((u8*)&WPL_Store, SerialMsg.pData, sizeof(WPL_Store_t)); |
557 | memcpy((u8*)&WPL_Store, SerialMsg.pData, sizeof(WPL_Store_t)); |
554 | WPL_Store.Name[11] = 0; // make sure the name string is terminated |
558 | WPL_Store.Name[11] = 0; // make sure the name string is terminated |
555 | WPL_Answer.Index = WPL_Store.Index; // echo Index in cmd answer |
559 | WPL_Answer.Index = WPL_Store.Index; // echo Index in cmd answer |
556 | WPL_Answer.Status = PointList_WriteToFile(&WPL_Store); |
560 | WPL_Answer.Status = PointList_WriteToFile(&WPL_Store); |
557 | UART1_Request_WPLStore = TRUE; |
561 | UART1_Request_WPLStore = TRUE; |
558 | break; |
562 | break; |
559 | 563 | ||
560 | 564 | ||
561 | case 'j':// Set/Get NC-Parameter |
565 | case 'j':// Set/Get NC-Parameter |
562 | switch(SerialMsg.pData[0]) |
566 | switch(SerialMsg.pData[0]) |
563 | { |
567 | { |
564 | case 0: // get |
568 | case 0: // get |
565 | break; |
569 | break; |
566 | 570 | ||
567 | case 1: // set |
571 | case 1: // set |
568 | { |
572 | { |
569 | s16 value; |
573 | s16 value; |
570 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
574 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
571 | NCParams_SetValue(SerialMsg.pData[1], &value); |
575 | NCParams_SetValue(SerialMsg.pData[1], &value); |
572 | } |
576 | } |
573 | break; |
577 | break; |
574 | 578 | ||
575 | default: |
579 | default: |
576 | break; |
580 | break; |
577 | } |
581 | } |
578 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
582 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
579 | UART1_Request_Parameter = TRUE; |
583 | UART1_Request_Parameter = TRUE; |
580 | break; |
584 | break; |
581 | default: |
585 | default: |
582 | // unsupported command recieved |
586 | // unsupported command recieved |
583 | break; |
587 | break; |
584 | } // case NC_ADDRESS |
588 | } // case NC_ADDRESS |
585 | // "break;" is missing here to fall thru to the common commands |
589 | // "break;" is missing here to fall thru to the common commands |
586 | 590 | ||
587 | default: // and any other Slave Address |
591 | default: // and any other Slave Address |
588 | 592 | ||
589 | switch(SerialMsg.CmdID) // check CmdID |
593 | switch(SerialMsg.CmdID) // check CmdID |
590 | { |
594 | { |
591 | case 'a':// request for the labels of the analog debug outputs |
595 | case 'a':// request for the labels of the analog debug outputs |
592 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
596 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
593 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
597 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
594 | break; |
598 | break; |
595 | /* |
599 | /* |
596 | case 'b': // submit extern control |
600 | case 'b': // submit extern control |
597 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
601 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
598 | UART1_ConfirmFrame = ExternControl.Frame; |
602 | UART1_ConfirmFrame = ExternControl.Frame; |
599 | break; |
603 | break; |
600 | */ |
604 | */ |
601 | case 'd': // request for debug data; |
605 | case 'd': // request for debug data; |
602 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
606 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
603 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
607 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
604 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
608 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
605 | break; |
609 | break; |
606 | 610 | ||
607 | case 'c': // request for 3D data; |
611 | case 'c': // request for 3D data; |
608 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
612 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
609 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
613 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
610 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
614 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
611 | break; |
615 | break; |
612 | 616 | ||
613 | case 'k': // request for Motor data; |
617 | case 'k': // request for Motor data; |
614 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
618 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
615 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
619 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
616 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
620 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
617 | break; |
621 | break; |
618 | 622 | ||
619 | case 'h':// reqest for display line |
623 | case 'h':// reqest for display line |
620 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
624 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
621 | { |
625 | { |
622 | UART1_DisplayLine = 2; |
626 | UART1_DisplayLine = 2; |
623 | UART1_Display_Interval = 0; |
627 | UART1_Display_Interval = 0; |
624 | } |
628 | } |
625 | else |
629 | else |
626 | { |
630 | { |
627 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
631 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
628 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
632 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
629 | UART1_DisplayLine = 4; |
633 | UART1_DisplayLine = 4; |
630 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
634 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
631 | } |
635 | } |
632 | UART1_Request_Display = TRUE; |
636 | UART1_Request_Display = TRUE; |
633 | break; |
637 | break; |
634 | 638 | ||
635 | case 'l':// reqest for display columns |
639 | case 'l':// reqest for display columns |
636 | MenuItem = SerialMsg.pData[0]; |
640 | MenuItem = SerialMsg.pData[0]; |
637 | UART1_Request_Display1 = TRUE; |
641 | UART1_Request_Display1 = TRUE; |
638 | break; |
642 | break; |
639 | 643 | ||
640 | case 'o': // request for navigation information |
644 | case 'o': // request for navigation information |
641 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
645 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
642 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
646 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
643 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
647 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
644 | break; |
648 | break; |
645 | 649 | ||
646 | case 'v': // request for version info |
650 | case 'v': // request for version info |
647 | if(SerialMsg.DataLen > 0 && SerialMsg.pData[0] == 1) UART1_Request_VersionInfo = 1; |
651 | if(SerialMsg.DataLen > 0 && SerialMsg.pData[0] == 1) UART1_Request_VersionInfo = 1; |
648 | else UART1_Request_VersionInfo = 2; |
652 | else UART1_Request_VersionInfo = 2; |
649 | break; |
653 | break; |
650 | default: |
654 | default: |
651 | // unsupported command recieved |
655 | // unsupported command recieved |
652 | break; |
656 | break; |
653 | } |
657 | } |
654 | break; // default: |
658 | break; // default: |
655 | } |
659 | } |
656 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
660 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
657 | } |
661 | } |
658 | 662 | ||
659 | 663 | ||
660 | /*****************************************************/ |
664 | /*****************************************************/ |
661 | /* Send a character */ |
665 | /* Send a character */ |
662 | /*****************************************************/ |
666 | /*****************************************************/ |
663 | s16 UART1_Putchar(char c) |
667 | s16 UART1_Putchar(char c) |
664 | { |
668 | { |
665 | u32 timeout = 10000; |
669 | u32 timeout = 10000; |
666 | if (c == '\n') UART1_Putchar('\r'); |
670 | if (c == '\n') UART1_Putchar('\r'); |
667 | // wait until txd fifo is not full |
671 | // wait until txd fifo is not full |
668 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
672 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
669 | // transmit byte |
673 | // transmit byte |
670 | UART_SendData(UART1, c); |
674 | UART_SendData(UART1, c); |
671 | #ifdef FOLLOW_ME |
675 | #ifdef FOLLOW_ME |
672 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
676 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
673 | #endif |
677 | #endif |
674 | return (0); |
678 | return (0); |
675 | } |
679 | } |
676 | 680 | ||
677 | /*****************************************************/ |
681 | /*****************************************************/ |
678 | /* Send a string to the debug uart */ |
682 | /* Send a string to the debug uart */ |
679 | /*****************************************************/ |
683 | /*****************************************************/ |
680 | void UART1_PutString(u8 *s) |
684 | void UART1_PutString(u8 *s) |
681 | { |
685 | { |
682 | if(s == NULL) return; |
686 | if(s == NULL) return; |
683 | while (*s != '\0' && DebugUART == UART1) |
687 | while (*s != '\0' && DebugUART == UART1) |
684 | { |
688 | { |
685 | UART1_Putchar(*s); |
689 | UART1_Putchar(*s); |
686 | s ++; |
690 | s ++; |
687 | } |
691 | } |
688 | } |
692 | } |
689 | 693 | ||
690 | 694 | ||
691 | /**************************************************************/ |
695 | /**************************************************************/ |
692 | /* Transmit tx buffer via debug uart */ |
696 | /* Transmit tx buffer via debug uart */ |
693 | /**************************************************************/ |
697 | /**************************************************************/ |
694 | void UART1_Transmit(void) |
698 | void UART1_Transmit(void) |
695 | { |
699 | { |
696 | u8 tmp_tx; |
700 | u8 tmp_tx; |
697 | if(DebugUART != UART1) return; |
701 | if(DebugUART != UART1) return; |
698 | // if something has to be send and the txd fifo is not full |
702 | // if something has to be send and the txd fifo is not full |
699 | if(UART1_tx_buffer.Locked == TRUE) |
703 | if(UART1_tx_buffer.Locked == TRUE) |
700 | { |
704 | { |
701 | // while there is some space in the tx fifo |
705 | // while there is some space in the tx fifo |
702 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
706 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
703 | { |
707 | { |
704 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
708 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
705 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
709 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
706 | #ifdef FOLLOW_ME |
710 | #ifdef FOLLOW_ME |
707 | if(TransmitAlsoToFC) |
711 | if(TransmitAlsoToFC) |
708 | { |
712 | { |
709 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
713 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
710 | } |
714 | } |
711 | #endif |
715 | #endif |
712 | // if terminating character or end of txd buffer reached |
716 | // if terminating character or end of txd buffer reached |
713 | if((tmp_tx == '\0') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
717 | if((tmp_tx == '\0') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
714 | { |
718 | { |
715 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
719 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
716 | #ifdef FOLLOW_ME |
720 | #ifdef FOLLOW_ME |
717 | TransmitAlsoToFC = 0; |
721 | TransmitAlsoToFC = 0; |
718 | #endif |
722 | #endif |
719 | break; // end while loop |
723 | break; // end while loop |
720 | } |
724 | } |
721 | } |
725 | } |
722 | } |
726 | } |
723 | } |
727 | } |
724 | 728 | ||
725 | //$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
729 | //$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
726 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
730 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
727 | //$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C |
731 | //$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C |
728 | //http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm |
732 | //http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm |
729 | 733 | ||
730 | void CreateNmeaGGA(void) |
734 | void CreateNmeaGGA(void) |
731 | { |
735 | { |
732 | u8 array[200], i = 0, crc = 0, x; |
736 | u8 array[200], i = 0, crc = 0, x; |
733 | s32 tmp1, tmp2; |
737 | s32 tmp1, tmp2; |
734 | 738 | ||
735 | i += sprintf(array, "$GPGGA,"); |
739 | i += sprintf(array, "$GPGGA,"); |
736 | // +++++++++++++++++++++++++++++++++++++++++++ |
740 | // +++++++++++++++++++++++++++++++++++++++++++ |
737 | if(SystemTime.Valid) |
741 | if(SystemTime.Valid) |
738 | { |
742 | { |
739 | i += sprintf(&array[i], "%02d%02d%02d.%02d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec/10); |
743 | i += sprintf(&array[i], "%02d%02d%02d.%02d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec/10); |
740 | } |
744 | } |
741 | else |
745 | else |
742 | { |
746 | { |
743 | i += sprintf(&array[i], ","); |
747 | i += sprintf(&array[i], ","); |
744 | } |
748 | } |
745 | // +++++++++++++++++++++++++++++++++++++++++++ |
749 | // +++++++++++++++++++++++++++++++++++++++++++ |
746 | if(GPSData.Flags & FLAG_GPSFIXOK) |
750 | if(GPSData.Flags & FLAG_GPSFIXOK) |
747 | { |
751 | { |
748 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
752 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
749 | i += sprintf(&array[i],"%02d",(s16)tmp1); |
753 | i += sprintf(&array[i],"%02d",(s16)tmp1); |
750 | 754 | ||
751 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
755 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
752 | tmp1 *= 6; // in Minuten |
756 | tmp1 *= 6; // in Minuten |
753 | tmp2 = tmp1 / 1000000L; |
757 | tmp2 = tmp1 / 1000000L; |
754 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
758 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
755 | tmp2 = tmp1 % 1000000L; |
759 | tmp2 = tmp1 % 1000000L; |
756 | tmp2 /= 100; // zwei Stellen zu viel |
760 | tmp2 /= 100; // zwei Stellen zu viel |
757 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
761 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
758 | 762 | ||
759 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
763 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
760 | else i += sprintf(&array[i],"S,"); |
764 | else i += sprintf(&array[i],"S,"); |
761 | // +++++++++++++++++++++++++++++++++++++++++++ |
765 | // +++++++++++++++++++++++++++++++++++++++++++ |
762 | 766 | ||
763 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
767 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
764 | i += sprintf(&array[i],"%03d", (u16)tmp1); |
768 | i += sprintf(&array[i],"%03d", (u16)tmp1); |
765 | 769 | ||
766 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
770 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
767 | tmp1 *= 6; // in Minuten |
771 | tmp1 *= 6; // in Minuten |
768 | tmp2 = tmp1 / 1000000L; |
772 | tmp2 = tmp1 / 1000000L; |
769 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
773 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
770 | tmp2 = tmp1 % 1000000L; |
774 | tmp2 = tmp1 % 1000000L; |
771 | tmp2 /= 100; // zwei Stellen zu viel |
775 | tmp2 /= 100; // zwei Stellen zu viel |
772 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
776 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
773 | 777 | ||
774 | 778 | ||
775 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
779 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
776 | else i += sprintf(&array[i],"W,"); |
780 | else i += sprintf(&array[i],"W,"); |
777 | i += sprintf(&array[i],"%d,",GPSData.SatFix); |
781 | i += sprintf(&array[i],"%d,",GPSData.SatFix); |
778 | i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
782 | i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
779 | i += sprintf(&array[i],"%d.%d,",(s16)(GPSData.Position_Accuracy/100),abs(GPSData.Position_Accuracy%100)); |
783 | i += sprintf(&array[i],"%d.%d,",(s16)(GPSData.Position_Accuracy/100),abs(GPSData.Position_Accuracy%100)); |
780 | // i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
784 | // i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
781 | tmp1 = NaviData.Altimeter / 2; // in dm |
785 | tmp1 = NaviData.Altimeter / 2; // in dm |
782 | i += sprintf(&array[i],"%d.%d,M,",(s16)tmp1 / 10,abs((s16)tmp1 % 10)); |
786 | i += sprintf(&array[i],"%d.%d,M,",(s16)tmp1 / 10,abs((s16)tmp1 % 10)); |
783 | i += sprintf(&array[i],",,,*"); |
787 | i += sprintf(&array[i],",,,*"); |
784 | } |
788 | } |
785 | else |
789 | else |
786 | { |
790 | { |
787 | i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats); |
791 | i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats); |
788 | } |
792 | } |
789 | for(x = 1; x < i-1; x++) |
793 | for(x = 1; x < i-1; x++) |
790 | { |
794 | { |
791 | crc ^= array[x]; |
795 | crc ^= array[x]; |
792 | } |
796 | } |
793 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
797 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
794 | AddSerialData(&UART1_tx_buffer,array,i); |
798 | AddSerialData(&UART1_tx_buffer,array,i); |
795 | 799 | ||
796 | // +++++++++++++++++++++++++++++++++++++++++++ |
800 | // +++++++++++++++++++++++++++++++++++++++++++ |
797 | } |
801 | } |
798 | 802 | ||
799 | //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
803 | //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
800 | //$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP |
804 | //$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP |
801 | 805 | ||
802 | void CreateNmeaRMC(void) |
806 | void CreateNmeaRMC(void) |
803 | { |
807 | { |
804 | u8 array[200], i = 0, crc = 0, x; |
808 | u8 array[200], i = 0, crc = 0, x; |
805 | s16 tmp_int; |
809 | s16 tmp_int; |
806 | s32 tmp1, tmp2; |
810 | s32 tmp1, tmp2; |
807 | // +++++++++++++++++++++++++++++++++++++++++++ |
811 | // +++++++++++++++++++++++++++++++++++++++++++ |
808 | i += sprintf(array, "$GPRMC,"); |
812 | i += sprintf(array, "$GPRMC,"); |
809 | // +++++++++++++++++++++++++++++++++++++++++++ |
813 | // +++++++++++++++++++++++++++++++++++++++++++ |
810 | if(SystemTime.Valid) |
814 | if(SystemTime.Valid) |
811 | { |
815 | { |
812 | i += sprintf(&array[i], "%02d%02d%02d.%03d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
816 | i += sprintf(&array[i], "%02d%02d%02d.%03d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
813 | } |
817 | } |
814 | else |
818 | else |
815 | { |
819 | { |
816 | i += sprintf(&array[i], ","); |
820 | i += sprintf(&array[i], ","); |
817 | } |
821 | } |
818 | if(GPSData.Flags & FLAG_GPSFIXOK) |
822 | if(GPSData.Flags & FLAG_GPSFIXOK) |
819 | { |
823 | { |
820 | // +++++++++++++++++++++++++++++++++++++++++++ |
824 | // +++++++++++++++++++++++++++++++++++++++++++ |
821 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
825 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
822 | i += sprintf(&array[i],"A,%02d", (s16)tmp1); // Status: A = Okay V = Warnung |
826 | i += sprintf(&array[i],"A,%02d", (s16)tmp1); // Status: A = Okay V = Warnung |
823 | 827 | ||
824 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
828 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
825 | tmp1 *= 6; // in Minuten |
829 | tmp1 *= 6; // in Minuten |
826 | tmp2 = tmp1 / 1000000L; |
830 | tmp2 = tmp1 / 1000000L; |
827 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
831 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
828 | tmp2 = tmp1 % 1000000L; |
832 | tmp2 = tmp1 % 1000000L; |
829 | tmp2 /= 100; // zwei Stellen zu viel |
833 | tmp2 /= 100; // zwei Stellen zu viel |
830 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
834 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
831 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
835 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
832 | else i += sprintf(&array[i],"S,"); |
836 | else i += sprintf(&array[i],"S,"); |
833 | // +++++++++++++++++++++++++++++++++++++++++++ |
837 | // +++++++++++++++++++++++++++++++++++++++++++ |
834 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
838 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
835 | i += sprintf(&array[i],"%03d", (s16)tmp1); |
839 | i += sprintf(&array[i],"%03d", (s16)tmp1); |
836 | 840 | ||
837 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
841 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
838 | tmp1 *= 6; // in Minuten |
842 | tmp1 *= 6; // in Minuten |
839 | tmp2 = tmp1 / 1000000L; |
843 | tmp2 = tmp1 / 1000000L; |
840 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
844 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
841 | tmp2 = tmp1 % 1000000L; |
845 | tmp2 = tmp1 % 1000000L; |
842 | tmp2 /= 100; // zwei Stellen zu viel |
846 | tmp2 /= 100; // zwei Stellen zu viel |
843 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
847 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
844 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
848 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
845 | else i += sprintf(&array[i],"W,"); |
849 | else i += sprintf(&array[i],"W,"); |
846 | // +++++++++++++++++++++++++++++++++++++++++++ |
850 | // +++++++++++++++++++++++++++++++++++++++++++ |
847 | tmp_int = GPSData.Speed_Ground; // in cm/sek |
851 | tmp_int = GPSData.Speed_Ground; // in cm/sek |
848 | tmp_int *= 90; |
852 | tmp_int *= 90; |
849 | tmp_int /= 463; |
853 | tmp_int /= 463; |
850 | i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten |
854 | i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten |
851 | // +++++++++++++++++++++++++++++++++++++++++++ |
855 | // +++++++++++++++++++++++++++++++++++++++++++ |
852 | i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10); |
856 | i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10); |
853 | // +++++++++++++++++++++++++++++++++++++++++++ |
857 | // +++++++++++++++++++++++++++++++++++++++++++ |
854 | if(SystemTime.Valid) |
858 | if(SystemTime.Valid) |
855 | { |
859 | { |
856 | i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year); |
860 | i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year); |
857 | } |
861 | } |
858 | else |
862 | else |
859 | { |
863 | { |
860 | i += sprintf(&array[i], ","); |
864 | i += sprintf(&array[i], ","); |
861 | } |
865 | } |
862 | // +++++++++++++++++++++++++++++++++++++++++++ |
866 | // +++++++++++++++++++++++++++++++++++++++++++ |
863 | i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
867 | i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
864 | if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,"); |
868 | if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,"); |
865 | // +++++++++++++++++++++++++++++++++++++++++++ |
869 | // +++++++++++++++++++++++++++++++++++++++++++ |
866 | if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D*"); |
870 | if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D*"); |
867 | else i += sprintf(&array[i], "A*"); |
871 | else i += sprintf(&array[i], "A*"); |
868 | } |
872 | } |
869 | else // kein Satfix |
873 | else // kein Satfix |
870 | { |
874 | { |
871 | i += sprintf(&array[i], "V,,,,,,,,,,N*"); |
875 | i += sprintf(&array[i], "V,,,,,,,,,,N*"); |
872 | } |
876 | } |
873 | // +++++++++++++++++++++++++++++++++++++++++++ |
877 | // +++++++++++++++++++++++++++++++++++++++++++ |
874 | // CRC |
878 | // CRC |
875 | // +++++++++++++++++++++++++++++++++++++++++++ |
879 | // +++++++++++++++++++++++++++++++++++++++++++ |
876 | for(x=1; x<i-1; x++) |
880 | for(x=1; x<i-1; x++) |
877 | { |
881 | { |
878 | crc ^= array[x]; |
882 | crc ^= array[x]; |
879 | } |
883 | } |
880 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
884 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
881 | // +++++++++++++++++++++++++++++++++++++++++++ |
885 | // +++++++++++++++++++++++++++++++++++++++++++ |
882 | AddSerialData(&UART1_tx_buffer,array,i); |
886 | AddSerialData(&UART1_tx_buffer,array,i); |
883 | // +++++++++++++++++++++++++++++++++++++++++++ |
887 | // +++++++++++++++++++++++++++++++++++++++++++ |
884 | /* |
888 | /* |
885 | 889 | ||
886 | 890 | ||
887 | 891 | ||
888 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
892 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
889 | GPSData.NumOfSats = UbxSol.numSV; |
893 | GPSData.NumOfSats = UbxSol.numSV; |
890 | GPSData.SatFix = UbxSol.GPSfix; |
894 | GPSData.SatFix = UbxSol.GPSfix; |
891 | GPSData.Position_Accuracy = UbxSol.PAcc; |
895 | GPSData.Position_Accuracy = UbxSol.PAcc; |
892 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
896 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
893 | SetGPSTime(&SystemTime); // update system time |
897 | SetGPSTime(&SystemTime); // update system time |
894 | // NAV POSLLH |
898 | // NAV POSLLH |
895 | GPSData.Position.Status = INVALID; |
899 | GPSData.Position.Status = INVALID; |
896 | GPSData.Position.Longitude = UbxPosLlh.LON; |
900 | GPSData.Position.Longitude = UbxPosLlh.LON; |
897 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
901 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
898 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
902 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
899 | GPSData.Position.Status = NEWDATA; |
903 | GPSData.Position.Status = NEWDATA; |
900 | // NAV VELNED |
904 | // NAV VELNED |
901 | GPSData.Speed_East = UbxVelNed.VEL_E; |
905 | GPSData.Speed_East = UbxVelNed.VEL_E; |
902 | GPSData.Speed_North = UbxVelNed.VEL_N; |
906 | GPSData.Speed_North = UbxVelNed.VEL_N; |
903 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
907 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
904 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
908 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
905 | GPSData.Heading = UbxVelNed.Heading; |
909 | GPSData.Heading = UbxVelNed.Heading; |
906 | SystemTime.Year = 0; |
910 | SystemTime.Year = 0; |
907 | SystemTime.Month = 0; |
911 | SystemTime.Month = 0; |
908 | SystemTime.Day = 0; |
912 | SystemTime.Day = 0; |
909 | SystemTime.Hour = 0; |
913 | SystemTime.Hour = 0; |
910 | SystemTime.Min = 0; |
914 | SystemTime.Min = 0; |
911 | SystemTime.Sec = 0; |
915 | SystemTime.Sec = 0; |
912 | SystemTime.mSec = 0; |
916 | SystemTime.mSec = 0; |
913 | SystemTime.Valid = 0; |
917 | SystemTime.Valid = 0; |
914 | 918 | ||
915 | FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2; |
919 | FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2; |
916 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
920 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
917 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
921 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
918 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
922 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
919 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
923 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
920 | 924 | ||
921 | 925 | ||
922 | 926 | ||
923 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
927 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
924 | i1 *= 100; |
928 | i1 *= 100; |
925 | i1 += i2 / 100000; |
929 | i1 += i2 / 100000; |
926 | i2 = i2 % 100000; |
930 | i2 = i2 % 100000; |
927 | i2 /= 10; |
931 | i2 /= 10; |
928 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
932 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
929 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
933 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
930 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
934 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
931 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
935 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
932 | break; |
936 | break; |
933 | case 1: |
937 | case 1: |
934 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
938 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
935 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
939 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
936 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
940 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
937 | //----------------------------- |
941 | //----------------------------- |
938 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
942 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
939 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
943 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
940 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
944 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
941 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
945 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
942 | 946 | ||
943 | */ |
947 | */ |
944 | } |
948 | } |
945 | 949 | ||
946 | 950 | ||
947 | /**************************************************************/ |
951 | /**************************************************************/ |
948 | /* Send the answers to incomming commands at the debug uart */ |
952 | /* Send the answers to incomming commands at the debug uart */ |
949 | /**************************************************************/ |
953 | /**************************************************************/ |
950 | void UART1_TransmitTxData(void) |
954 | void UART1_TransmitTxData(void) |
951 | { |
955 | { |
952 | static u8 motorindex1 = 255, motorindex2 = 0; |
956 | static u8 motorindex1 = 255, motorindex2 = 0; |
953 | if(DebugUART != UART1) return; |
957 | if(DebugUART != UART1) return; |
954 | 958 | ||
955 | if(CheckDelay(UART1_AboTimeOut)) |
959 | if(CheckDelay(UART1_AboTimeOut)) |
956 | { |
960 | { |
957 | UART1_DebugData_Interval = 0; |
961 | UART1_DebugData_Interval = 0; |
958 | UART1_NaviData_Interval = 0; |
962 | UART1_NaviData_Interval = 0; |
959 | UART1_Data3D_Interval = 0; |
963 | UART1_Data3D_Interval = 0; |
960 | UART1_Display_Interval = 0; |
964 | UART1_Display_Interval = 0; |
961 | UART1_MotorData_Interval = 0; |
965 | UART1_MotorData_Interval = 0; |
962 | } |
966 | } |
963 | 967 | ||
964 | UART1_Transmit(); // output pending bytes in tx buffer |
968 | UART1_Transmit(); // output pending bytes in tx buffer |
965 | if((UART1_tx_buffer.Locked == TRUE)) return; |
969 | if((UART1_tx_buffer.Locked == TRUE)) return; |
966 | 970 | ||
967 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
971 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
968 | { |
972 | { |
969 | s16 ParamValue; |
973 | s16 ParamValue; |
970 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
974 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
971 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
975 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
972 | UART1_Request_Parameter = FALSE; |
976 | UART1_Request_Parameter = FALSE; |
973 | } |
977 | } |
974 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
978 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
975 | { |
979 | { |
976 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
980 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
977 | Echo = 0; // reset echo value |
981 | Echo = 0; // reset echo value |
978 | UART1_Request_Echo = FALSE; |
982 | UART1_Request_Echo = FALSE; |
979 | } |
983 | } |
980 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
984 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
981 | { |
985 | { |
982 | u8 errorcode = FTP_ERROR_NONE; |
986 | u8 errorcode = FTP_ERROR_NONE; |
983 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
987 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
984 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
988 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
985 | 989 | ||
986 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
990 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
987 | else |
991 | else |
988 | { |
992 | { |
989 | u8 cmd = FTP_CMD_ERROR; |
993 | u8 cmd = FTP_CMD_ERROR; |
990 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
994 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
991 | } |
995 | } |
992 | 996 | ||
993 | UART1_Request_FTP = FALSE; |
997 | UART1_Request_FTP = FALSE; |
994 | } |
998 | } |
995 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
999 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
996 | { |
1000 | { |
997 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
1001 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
998 | UART1_Request_WritePoint = 0xFF; |
1002 | UART1_Request_WritePoint = 0xFF; |
999 | } |
1003 | } |
1000 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
1004 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
1001 | { |
1005 | { |
1002 | u8 PointCount = PointList_GetCount(); |
1006 | u8 PointCount = PointList_GetCount(); |
1003 | if (UART1_Request_ReadPoint <= PointCount) |
1007 | if (UART1_Request_ReadPoint <= PointCount) |
1004 | { |
1008 | { |
1005 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
1009 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
1006 | } |
1010 | } |
1007 | else |
1011 | else |
1008 | { |
1012 | { |
1009 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
1013 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
1010 | } |
1014 | } |
1011 | UART1_Request_ReadPoint = 0; |
1015 | UART1_Request_ReadPoint = 0; |
1012 | } |
1016 | } |
1013 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
1017 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
1014 | { |
1018 | { |
1015 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
1019 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
1016 | UART1_Request_DebugLabel = 0xFF; |
1020 | UART1_Request_DebugLabel = 0xFF; |
1017 | } |
1021 | } |
1018 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1022 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1019 | { |
1023 | { |
1020 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
1024 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
1021 | UART1_ExternalControlConfirmFrame = 0; |
1025 | UART1_ExternalControlConfirmFrame = 0; |
1022 | } |
1026 | } |
1023 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
1027 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
1024 | { |
1028 | { |
1025 | NaviData.Errorcode = ErrorCode; |
1029 | NaviData.Errorcode = ErrorCode; |
1026 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
1030 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
1027 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
1031 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
1028 | UART1_Request_NaviData = FALSE; |
1032 | UART1_Request_NaviData = FALSE; |
1029 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
1033 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
1030 | } |
1034 | } |
1031 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
1035 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
1032 | { |
1036 | { |
1033 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
1037 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
1034 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
1038 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
1035 | UART1_Request_DebugData = FALSE; |
1039 | UART1_Request_DebugData = FALSE; |
1036 | } |
1040 | } |
1037 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
1041 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
1038 | { |
1042 | { |
1039 | Data3D.StickNick = FC.StickNick; |
1043 | Data3D.StickNick = FC.StickNick; |
1040 | Data3D.StickRoll = FC.StickRoll; |
1044 | Data3D.StickRoll = FC.StickRoll; |
1041 | Data3D.StickYaw = FC.StickYaw; |
1045 | Data3D.StickYaw = FC.StickYaw; |
1042 | Data3D.StickGas = FC.StickGas; |
1046 | Data3D.StickGas = FC.StickGas; |
1043 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
1047 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
1044 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
1048 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
1045 | UART1_Request_Data3D = FALSE; |
1049 | UART1_Request_Data3D = FALSE; |
1046 | } |
1050 | } |
1047 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
1051 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
1048 | { |
1052 | { |
1049 | do |
1053 | do |
1050 | { |
1054 | { |
1051 | motorindex1++; |
1055 | motorindex1++; |
1052 | motorindex1%=12; |
1056 | motorindex1%=12; |
1053 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
1057 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
1054 | if(motorindex1 == motorindex2) break; |
1058 | if(motorindex1 == motorindex2) break; |
1055 | } |
1059 | } |
1056 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
1060 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
1057 | 1061 | ||
1058 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
1062 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
1059 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
1063 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
1060 | UART1_Request_MotorData = FALSE; |
1064 | UART1_Request_MotorData = FALSE; |
1061 | } |
1065 | } |
1062 | else if(UART1_Request_WPLStore) |
1066 | else if(UART1_Request_WPLStore) |
1063 | { |
1067 | { |
1064 | /* |
1068 | /* |
1065 | s8 txt[50]; |
1069 | s8 txt[50]; |
1066 | sprintf(txt, "\r\nWPL Overwride = %d, Type = %d, Index = %d, Status = %d\r\n", WPL_Store.OverwriteFile, WPL_Store.Type, WPL_Answer.Index, WPL_Answer.Status); |
1070 | sprintf(txt, "\r\nWPL Overwride = %d, Type = %d, Index = %d, Status = %d\r\n", WPL_Store.OverwriteFile, WPL_Store.Type, WPL_Answer.Index, WPL_Answer.Status); |
1067 | UART1_PutString(txt); |
1071 | UART1_PutString(txt); |
1068 | */ |
1072 | */ |
1069 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'I', NC_ADDRESS, 1,(u8 *)&(WPL_Answer), sizeof(WPL_Answer_t)); |
1073 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'I', NC_ADDRESS, 1,(u8 *)&(WPL_Answer), sizeof(WPL_Answer_t)); |
1070 | UART1_Request_WPLStore = FALSE; |
1074 | UART1_Request_WPLStore = FALSE; |
1071 | } |
1075 | } |
1072 | else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE)) |
1076 | else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE)) |
1073 | { |
1077 | { |
1074 | CreateNmeaGGA(); |
1078 | CreateNmeaGGA(); |
1075 | Send_NMEA_RMC = TRUE; // das muss noch da hinter |
1079 | Send_NMEA_RMC = TRUE; // das muss noch da hinter |
1076 | NMEA_Timer = SetDelay(NMEA_Interval); |
1080 | NMEA_Timer = SetDelay(NMEA_Interval); |
1077 | } |
1081 | } |
1078 | else if(Send_NMEA_RMC == TRUE && (UART1_tx_buffer.Locked == FALSE)) |
1082 | else if(Send_NMEA_RMC == TRUE && (UART1_tx_buffer.Locked == FALSE)) |
1079 | { |
1083 | { |
1080 | CreateNmeaRMC(); |
1084 | CreateNmeaRMC(); |
1081 | Send_NMEA_RMC = FALSE; |
1085 | Send_NMEA_RMC = FALSE; |
1082 | } |
1086 | } |
1083 | 1087 | ||
1084 | /* |
1088 | /* |
1085 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1089 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1086 | { |
1090 | { |
1087 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
1091 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
1088 | UART1_ConfirmFrame = 0; |
1092 | UART1_ConfirmFrame = 0; |
1089 | } |
1093 | } |
1090 | */ |
1094 | */ |
1091 | /* |
1095 | /* |
1092 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
1096 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
1093 | { |
1097 | { |
1094 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
1098 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
1095 | UART1_Request_ExternalControl = FALSE; |
1099 | UART1_Request_ExternalControl = FALSE; |
1096 | } |
1100 | } |
1097 | */ |
1101 | */ |
1098 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
1102 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
1099 | { |
1103 | { |
1100 | if(UART1_DisplayLine > 3) |
1104 | if(UART1_DisplayLine > 3) |
1101 | { |
1105 | { |
1102 | Menu_Update(UART1_DisplayKeys); |
1106 | Menu_Update(UART1_DisplayKeys); |
1103 | UART1_DisplayKeys = 0; |
1107 | UART1_DisplayKeys = 0; |
1104 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
1108 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
1105 | } |
1109 | } |
1106 | else |
1110 | else |
1107 | { |
1111 | { |
1108 | UART1_DisplayLine = 2; |
1112 | UART1_DisplayLine = 2; |
1109 | sprintf(text,"!!! incompatible !!!"); |
1113 | sprintf(text,"!!! incompatible !!!"); |
1110 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
1114 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
1111 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
1115 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
1112 | } |
1116 | } |
1113 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
1117 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
1114 | UART1_Request_Display = FALSE; |
1118 | UART1_Request_Display = FALSE; |
1115 | } |
1119 | } |
1116 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
1120 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
1117 | { |
1121 | { |
1118 | Menu_Update(0); |
1122 | Menu_Update(0); |
1119 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
1123 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
1120 | UART1_Request_Display1 = FALSE; |
1124 | UART1_Request_Display1 = FALSE; |
1121 | } |
1125 | } |
1122 | else if(UART1_Request_VersionInfo == 1 && (UART1_tx_buffer.Locked == FALSE)) // get FC-Versions |
1126 | else if(UART1_Request_VersionInfo == 1 && (UART1_tx_buffer.Locked == FALSE)) // get FC-Versions |
1123 | { |
1127 | { |
1124 | UART_VersionInfo_t version_tmp; |
1128 | UART_VersionInfo_t version_tmp; |
1125 | version_tmp.SWMajor = FC_Version.Major; |
1129 | version_tmp.SWMajor = FC_Version.Major; |
1126 | version_tmp.SWMinor = FC_Version.Minor; |
1130 | version_tmp.SWMinor = FC_Version.Minor; |
1127 | version_tmp.SWPatch = FC_Version.Patch; |
1131 | version_tmp.SWPatch = FC_Version.Patch; |
1128 | version_tmp.HWMajor = FC_Version.Hardware; |
1132 | version_tmp.HWMajor = FC_Version.Hardware; |
1129 | version_tmp.HardwareError[0] = 0xff; // tells the KopterTool that it is the FC-version |
1133 | version_tmp.HardwareError[0] = 0xff; // tells the KopterTool that it is the FC-version |
1130 | version_tmp.HardwareError[1] = 0xff; // tells the KopterTool that it is the FC-version |
1134 | version_tmp.HardwareError[1] = 0xff; // tells the KopterTool that it is the FC-version |
1131 | version_tmp.ProtoMajor = UART_VersionInfo.ProtoMajor; |
1135 | version_tmp.ProtoMajor = UART_VersionInfo.ProtoMajor; |
1132 | version_tmp.BL_Firmware = UART_VersionInfo.BL_Firmware; |
1136 | version_tmp.BL_Firmware = UART_VersionInfo.BL_Firmware; |
1133 | version_tmp.Flags = 0; |
1137 | version_tmp.Flags = 0; |
1134 | version_tmp.Reserved1 = 0; |
1138 | version_tmp.Reserved1 = 0; |
1135 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&version_tmp, sizeof(version_tmp)); |
1139 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&version_tmp, sizeof(version_tmp)); |
1136 | UART1_Request_VersionInfo = FALSE; |
1140 | UART1_Request_VersionInfo = FALSE; |
1137 | } |
1141 | } |
1138 | else if(UART1_Request_VersionInfo == 2 && (UART1_tx_buffer.Locked == FALSE)) // get NC-Versions |
1142 | else if(UART1_Request_VersionInfo == 2 && (UART1_tx_buffer.Locked == FALSE)) // get NC-Versions |
1139 | { |
1143 | { |
1140 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
1144 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
1141 | UART1_Request_VersionInfo = FALSE; |
1145 | UART1_Request_VersionInfo = FALSE; |
1142 | } |
1146 | } |
1143 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
1147 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
1144 | { |
1148 | { |
1145 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
1149 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
1146 | UART1_Request_SystemTime = FALSE; |
1150 | UART1_Request_SystemTime = FALSE; |
1147 | } |
1151 | } |
1148 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
1152 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
1149 | { |
1153 | { |
1150 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
1154 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
1151 | UART1_Request_ErrorMessage = FALSE; |
1155 | UART1_Request_ErrorMessage = FALSE; |
1152 | } |
1156 | } |
1153 | else if(UART1_Request_LicenseString && (UART1_tx_buffer.Locked == FALSE)) |
1157 | else if(UART1_Request_LicenseString && (UART1_tx_buffer.Locked == FALSE)) |
1154 | { |
1158 | { |
1155 | u8 result = 1, cmd = 0; |
1159 | u8 result = 1, cmd = 0; |
1156 | if(UART1_Request_LicenseString == LIC_CMD_READ_LICENSE) |
1160 | if(UART1_Request_LicenseString == LIC_CMD_READ_LICENSE) |
1157 | { |
1161 | { |
1158 | result = LIC_CMD_READ_LICENSE; |
1162 | result = LIC_CMD_READ_LICENSE; |
1159 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &result, 1, LicensePtr, LICENSE_SIZE); |
1163 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &result, 1, LicensePtr, LICENSE_SIZE); |
1160 | } |
1164 | } |
1161 | else |
1165 | else |
1162 | if((UART1_Request_LicenseString == LIC_CMD_ERASE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
1166 | if((UART1_Request_LicenseString == LIC_CMD_ERASE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
1163 | { |
1167 | { |
1164 | result = LIC_CMD_ERASE_LICENSE; |
1168 | result = LIC_CMD_ERASE_LICENSE; |
1165 | DeleteLicenseInEEPROM(); |
1169 | DeleteLicenseInEEPROM(); |
1166 | CheckLicense(GET_LICENSE); |
1170 | CheckLicense(GET_LICENSE); |
1167 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 1, &result, 1); |
1171 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 1, &result, 1); |
1168 | } |
1172 | } |
1169 | else |
1173 | else |
1170 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
1174 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
1171 | { |
1175 | { |
1172 | cmd = LIC_CMD_WRITE_LICENSE; |
1176 | cmd = LIC_CMD_WRITE_LICENSE; |
1173 | if(CheckLicense(CHECK_ONLY)) //new license is okay |
1177 | if(CheckLicense(CHECK_ONLY)) //new license is okay |
1174 | { |
1178 | { |
1175 | WriteLicenseToEEPROM(EEPROM_LICENSE_DATA_KOMPATIBEL); |
1179 | WriteLicenseToEEPROM(EEPROM_LICENSE_DATA_KOMPATIBEL); |
1176 | result = 1; |
1180 | result = 1; |
1177 | } |
1181 | } |
1178 | else //new license is NOT okay |
1182 | else //new license is NOT okay |
1179 | { |
1183 | { |
1180 | ClearLicenseText(); |
1184 | ClearLicenseText(); |
1181 | result = 0; |
1185 | result = 0; |
1182 | CheckLicense(GET_LICENSE); // fetch a license if available |
1186 | CheckLicense(GET_LICENSE); // fetch a license if available |
1183 | } |
1187 | } |
1184 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &cmd, 1,&result, 1 ); |
1188 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &cmd, 1,&result, 1 ); |
1185 | } |
1189 | } |
1186 | UART1_Request_LicenseString = 0; |
1190 | UART1_Request_LicenseString = 0; |
1187 | } |
1191 | } |
1188 | #ifdef FOLLOW_ME |
1192 | #ifdef FOLLOW_ME |
1189 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
1193 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
1190 | { |
1194 | { |
1191 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
1195 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
1192 | { |
1196 | { |
1193 | TransmitAlsoToFC = 1; |
1197 | TransmitAlsoToFC = 1; |
1194 | // update FollowMe content |
1198 | // update FollowMe content |
1195 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
1199 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
1196 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
1200 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
1197 | FollowMe.Position.Status = NEWDATA; |
1201 | FollowMe.Position.Status = NEWDATA; |
1198 | FollowMe.Position.Altitude = 1; |
1202 | FollowMe.Position.Altitude = 1; |
1199 | // 0 -> no Orientation |
1203 | // 0 -> no Orientation |
1200 | // 1-360 -> CompassCourse Setpoint |
1204 | // 1-360 -> CompassCourse Setpoint |
1201 | // -1 -> points to WP1 -> itself |
1205 | // -1 -> points to WP1 -> itself |
1202 | FollowMe.Heading = -1; |
1206 | FollowMe.Heading = -1; |
1203 | FollowMe.ToleranceRadius = 1; |
1207 | FollowMe.ToleranceRadius = 1; |
1204 | FollowMe.HoldTime = 60; |
1208 | FollowMe.HoldTime = 60; |
1205 | FollowMe.Event_Flag = 1; |
1209 | FollowMe.Event_Flag = 1; |
1206 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
1210 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
1207 | FollowMe.Type = POINT_TYPE_WP; |
1211 | FollowMe.Type = POINT_TYPE_WP; |
1208 | FollowMe.WP_EventChannelValue = 100; // set servo value |
1212 | FollowMe.WP_EventChannelValue = 100; // set servo value |
1209 | FollowMe.AltitudeRate = 0; // do not change height |
1213 | FollowMe.AltitudeRate = 0; // do not change height |
1210 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
1214 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
1211 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
1215 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
1212 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
1216 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
1213 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
1217 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
1214 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
1218 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
1215 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
1219 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
1216 | FollowMe.reserve[0] = 0; // reserve |
1220 | FollowMe.reserve[0] = 0; // reserve |
1217 | FollowMe.reserve[1] = 0; // reserve |
1221 | FollowMe.reserve[1] = 0; // reserve |
1218 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
1222 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
1219 | } |
1223 | } |
1220 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
1224 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
1221 | } |
1225 | } |
1222 | #endif |
1226 | #endif |
1223 | #ifdef DEBUG // only include functions if DEBUG is defined |
1227 | #ifdef DEBUG // only include functions if DEBUG is defined |
1224 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
1228 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
1225 | { |
1229 | { |
1226 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
1230 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
1227 | SendDebugOutput = 0; |
1231 | SendDebugOutput = 0; |
1228 | } |
1232 | } |
1229 | #endif |
1233 | #endif |
1230 | UART1_Transmit(); // output pending bytes in tx buffer |
1234 | UART1_Transmit(); // output pending bytes in tx buffer |
1231 | } |
1235 | } |
1232 | 1236 | ||
1233 | 1237 |