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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
6 | // + Nur für den privaten Gebrauch |
6 | // + Nur für den privaten Gebrauch |
7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + with our written permission |
40 | // + with our written permission |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
44 | // |
44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | #include <stdio.h> |
57 | #include <stdio.h> |
58 | #include <stdarg.h> |
58 | #include <stdarg.h> |
59 | #include <string.h> |
59 | #include <string.h> |
60 | 60 | ||
61 | #include "91x_lib.h" |
61 | #include "91x_lib.h" |
62 | #include "config.h" |
62 | #include "config.h" |
63 | #include "menu.h" |
63 | #include "menu.h" |
64 | #include "printf_P.h" |
64 | #include "printf_P.h" |
65 | #include "GPS.h" |
65 | #include "GPS.h" |
66 | #include "i2c.h" |
66 | #include "i2c.h" |
67 | #include "uart0.h" |
67 | #include "uart0.h" |
68 | #include "uart1.h" |
68 | #include "uart1.h" |
69 | #include "uart2.h" |
69 | #include "uart2.h" |
70 | #include "timer1.h" |
70 | #include "timer1.h" |
71 | #include "timer2.h" |
71 | #include "timer2.h" |
72 | #include "analog.h" |
72 | #include "analog.h" |
73 | #include "main.h" |
73 | #include "main.h" |
74 | #include "waypoints.h" |
74 | #include "waypoints.h" |
75 | #include "mkprotocol.h" |
75 | #include "mkprotocol.h" |
76 | #include "params.h" |
76 | #include "params.h" |
77 | #include "fifo.h" |
77 | #include "fifo.h" |
78 | 78 | ||
79 | #define FALSE 0 |
79 | #define FALSE 0 |
80 | #define TRUE 1 |
80 | #define TRUE 1 |
81 | 81 | ||
82 | 82 | ||
83 | u8 UART1_Request_VersionInfo = FALSE; |
83 | u8 UART1_Request_VersionInfo = FALSE; |
84 | u8 UART1_Request_SendFollowMe = FALSE; |
84 | u8 UART1_Request_SendFollowMe = FALSE; |
85 | u8 UART1_Request_ExternalControl= FALSE; |
85 | u8 UART1_Request_ExternalControl= FALSE; |
86 | u8 UART1_Request_Display = FALSE; |
86 | u8 UART1_Request_Display = FALSE; |
87 | u8 UART1_Request_Display1 = FALSE; |
87 | u8 UART1_Request_Display1 = FALSE; |
88 | u8 UART1_Request_DebugData = FALSE; |
88 | u8 UART1_Request_DebugData = FALSE; |
89 | u8 UART1_Request_DebugLabel = 255; |
89 | u8 UART1_Request_DebugLabel = 255; |
90 | u8 UART1_Request_NaviData = FALSE; |
90 | u8 UART1_Request_NaviData = FALSE; |
91 | u8 UART1_Request_ErrorMessage = FALSE; |
91 | u8 UART1_Request_ErrorMessage = FALSE; |
92 | u8 UART1_Request_NewWaypoint = FALSE; |
92 | u8 UART1_Request_NewWaypoint = FALSE; |
93 | u8 UART1_Request_ReadWaypoint = 255; |
93 | u8 UART1_Request_ReadWaypoint = 255; |
94 | u8 UART1_Request_Data3D = FALSE; |
94 | u8 UART1_Request_Data3D = FALSE; |
95 | u8 UART1_Request_Echo = FALSE; |
95 | u8 UART1_Request_Echo = FALSE; |
96 | u8 UART1_Request_ParameterId = 0; |
96 | u8 UART1_Request_ParameterId = 0; |
97 | u8 UART1_Request_Parameter = FALSE; |
97 | u8 UART1_Request_Parameter = FALSE; |
98 | u8 UART1_DisplayLine = 0; |
98 | u8 UART1_DisplayLine = 0; |
99 | u8 UART1_ConfirmFrame = 0; |
99 | u8 UART1_ConfirmFrame = 0; |
100 | 100 | ||
101 | UART_TypeDef *DebugUART = UART1; |
101 | UART_TypeDef *DebugUART = UART1; |
102 | 102 | ||
103 | // the primary rx fifo |
103 | // the primary rx fifo |
104 | #define UART1_RX_FIFO_LEN 1024 |
104 | #define UART1_RX_FIFO_LEN 1024 |
105 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
105 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
106 | fifo_t UART1_rx_fifo; |
106 | fifo_t UART1_rx_fifo; |
107 | 107 | ||
108 | // the rx buffer |
108 | // the rx buffer |
109 | #define UART1_RX_BUFFER_LEN 150 |
109 | #define UART1_RX_BUFFER_LEN 150 |
110 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
110 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
111 | Buffer_t UART1_rx_buffer; |
111 | Buffer_t UART1_rx_buffer; |
112 | 112 | ||
113 | // the tx buffer |
113 | // the tx buffer |
114 | #define UART1_TX_BUFFER_LEN 150 |
114 | #define UART1_TX_BUFFER_LEN 150 |
115 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
115 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
116 | Buffer_t UART1_tx_buffer; |
116 | Buffer_t UART1_tx_buffer; |
117 | 117 | ||
118 | 118 | ||
119 | 119 | ||
120 | volatile u8 SerialLinkOkay = 0; |
120 | volatile u8 SerialLinkOkay = 0; |
121 | 121 | ||
122 | u8 text[200]; |
122 | u8 text[200]; |
123 | 123 | ||
124 | const u8 ANALOG_LABEL[32][16] = |
124 | const u8 ANALOG_LABEL[32][16] = |
125 | { |
125 | { |
126 | //1234567890123456 |
126 | //1234567890123456 |
127 | "AngleNick ", //0 |
127 | "AngleNick ", //0 |
128 | "AngleRoll ", |
128 | "AngleRoll ", |
129 | "AccNick ", |
129 | "AccNick ", |
130 | "AccRoll ", |
130 | "AccRoll ", |
131 | " ", |
131 | " ", |
132 | "MK-Flags ", //5 |
132 | "MK-Flags ", //5 |
133 | "NC-Flags ", |
133 | "NC-Flags ", |
134 | "NickServo ", |
134 | "NickServo ", |
135 | "RollServo ", |
135 | "RollServo ", |
136 | "GPS Data ", |
136 | "GPS Data ", |
137 | "CompassHeading ", //10 |
137 | "CompassHeading ", //10 |
138 | "GyroHeading ", |
138 | "GyroHeading ", |
139 | "SPI Error ", |
139 | "SPI Error ", |
140 | "SPI Okay ", |
140 | "SPI Okay ", |
141 | "I2C Error ", |
141 | "I2C Error ", |
142 | "I2C Okay ", //15 |
142 | "I2C Okay ", //15 |
143 | " ",// "Kalman_K ", |
143 | " ",// "Kalman_K ", |
144 | "ACC_Speed_N ", |
144 | "ACC_Speed_N ", |
145 | "ACC_Speed_E ", |
145 | "ACC_Speed_E ", |
146 | "Speed_z ",// "GPS ACC ", |
146 | "Speed_z ",// "GPS ACC ", |
147 | " ",// "MAXDrift ", //20 |
147 | " ",// "MAXDrift ", //20 |
148 | "N_Speed ", |
148 | "N_Speed ", |
149 | "E_Speed ", |
149 | "E_Speed ", |
150 | "P-Part ", |
150 | "P-Part ", |
151 | "I-Part ", |
151 | "I-Part ", |
152 | "D-Part ",//25 |
152 | "D-Part ",//25 |
153 | "PID-Part ", |
153 | "PID-Part ", |
154 | "Distance N ", |
154 | "Distance N ", |
155 | "Distance E ", |
155 | "Distance E ", |
156 | "GPS_Nick ", |
156 | "GPS_Nick ", |
157 | "GPS_Roll ", //30 |
157 | "GPS_Roll ", //30 |
158 | "Used_Sats " |
158 | "Used_Sats " |
159 | }; |
159 | }; |
160 | 160 | ||
161 | DebugOut_t DebugOut; |
161 | DebugOut_t DebugOut; |
162 | ExternControl_t ExternControl; |
162 | ExternControl_t ExternControl; |
163 | UART_VersionInfo_t UART_VersionInfo; |
163 | UART_VersionInfo_t UART_VersionInfo; |
164 | NaviData_t NaviData; |
164 | NaviData_t NaviData; |
165 | Waypoint_t FollowMe; |
165 | Waypoint_t FollowMe; |
166 | Data3D_t Data3D; |
166 | Data3D_t Data3D; |
167 | u16 Echo; // 2 bytes recieved will be sent back as echo |
167 | u16 Echo; // 2 bytes recieved will be sent back as echo |
168 | 168 | ||
169 | u32 UART1_DebugData_Timer; |
169 | u32 UART1_DebugData_Timer; |
170 | u32 UART1_DebugData_Interval = 5000; // in ms |
170 | u32 UART1_DebugData_Interval = 5000; // in ms |
171 | u32 UART1_NaviData_Timer; |
171 | u32 UART1_NaviData_Timer; |
172 | u32 UART1_NaviData_Interval = 5000; // in ms |
172 | u32 UART1_NaviData_Interval = 5000; // in ms |
173 | u32 UART1_Data3D_Timer = 0; // in ms |
173 | u32 UART1_Data3D_Timer = 0; // in ms |
174 | u32 UART1_Data3D_Interval = 0; |
174 | u32 UART1_Data3D_Interval = 0; |
175 | 175 | ||
176 | /********************************************************/ |
176 | /********************************************************/ |
177 | /* Initialization the UART1 */ |
177 | /* Initialization the UART1 */ |
178 | /********************************************************/ |
178 | /********************************************************/ |
179 | void UART1_Init (void) |
179 | void UART1_Init (void) |
180 | { |
180 | { |
181 | GPIO_InitTypeDef GPIO_InitStructure; |
181 | GPIO_InitTypeDef GPIO_InitStructure; |
182 | UART_InitTypeDef UART_InitStructure; |
182 | UART_InitTypeDef UART_InitStructure; |
183 | 183 | ||
184 | // initialize txd buffer |
184 | // initialize txd buffer |
185 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
185 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
186 | 186 | ||
187 | // initialize rxd buffer |
187 | // initialize rxd buffer |
188 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
188 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
189 | 189 | ||
190 | // initialize the rx fifo |
190 | // initialize the rx fifo |
191 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN); |
191 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN); |
192 | 192 | ||
193 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
193 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
194 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
194 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
195 | 195 | ||
196 | /*Configure UART1_Rx pin GPIO3.2*/ |
196 | /*Configure UART1_Rx pin GPIO3.2*/ |
197 | GPIO_StructInit(&GPIO_InitStructure); |
197 | GPIO_StructInit(&GPIO_InitStructure); |
198 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
198 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
199 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
199 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
200 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
200 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
201 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
201 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
202 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
202 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
203 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
203 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
204 | 204 | ||
205 | /*Configure UART1_Tx pin GPIO3.3*/ |
205 | /*Configure UART1_Tx pin GPIO3.3*/ |
206 | GPIO_StructInit(&GPIO_InitStructure); |
206 | GPIO_StructInit(&GPIO_InitStructure); |
207 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
207 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
208 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
208 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
209 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
209 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
210 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
210 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
211 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
211 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
212 | 212 | ||
213 | /* UART1 configured as follow: |
213 | /* UART1 configured as follow: |
214 | - Word Length = 8 Bits |
214 | - Word Length = 8 Bits |
215 | - One Stop Bit |
215 | - One Stop Bit |
216 | - No parity |
216 | - No parity |
217 | - BaudRate = 57600 baud |
217 | - BaudRate = 57600 baud |
218 | - Hardware flow control Disabled |
218 | - Hardware flow control Disabled |
219 | - Receive and transmit enabled |
219 | - Receive and transmit enabled |
220 | - Receive and transmit FIFOs are Disabled |
220 | - Receive and transmit FIFOs are Disabled |
221 | */ |
221 | */ |
222 | UART_StructInit(&UART_InitStructure); |
222 | UART_StructInit(&UART_InitStructure); |
223 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
223 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
224 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
224 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
225 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
225 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
226 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
226 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
227 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
227 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
228 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
228 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
229 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
229 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
230 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
230 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
231 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
231 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
232 | 232 | ||
233 | UART_DeInit(UART1); // reset uart 1 to default |
233 | UART_DeInit(UART1); // reset uart 1 to default |
234 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
234 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
235 | // enable uart 1 interrupts selective |
235 | // enable uart 1 interrupts selective |
236 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
236 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
237 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
237 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
238 | // configure the uart 1 interupt line |
238 | // configure the uart 1 interupt line |
239 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
239 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
240 | // enable the uart 1 IRQ |
240 | // enable the uart 1 IRQ |
241 | VIC_ITCmd(UART1_ITLine, ENABLE); |
241 | VIC_ITCmd(UART1_ITLine, ENABLE); |
242 | 242 | ||
243 | // initialize the debug timer |
243 | // initialize the debug timer |
244 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
244 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
245 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
245 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
246 | 246 | ||
247 | // Fill Version Info Structure |
247 | // Fill Version Info Structure |
248 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
248 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
249 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
249 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
250 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
250 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
251 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
251 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
252 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
252 | UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
253 | 253 | ||
254 | NaviData.Version = NAVIDATA_VERSION; |
254 | NaviData.Version = NAVIDATA_VERSION; |
255 | 255 | ||
256 | UART1_PutString("\r\nUART1 init...ok"); |
256 | UART1_PutString("\r\nUART1 init...ok"); |
257 | } |
257 | } |
258 | 258 | ||
259 | 259 | ||
260 | /****************************************************************/ |
260 | /****************************************************************/ |
261 | /* USART1 receiver ISR */ |
261 | /* USART1 receiver ISR */ |
262 | /****************************************************************/ |
262 | /****************************************************************/ |
263 | void UART1_IRQHandler(void) |
263 | void UART1_IRQHandler(void) |
264 | { |
264 | { |
265 | static u8 abortState = 0; |
265 | static u8 abortState = 0; |
266 | u8 c; |
266 | u8 c; |
267 | 267 | ||
268 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
268 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
269 | { |
269 | { |
270 | // clear the pending bits! |
270 | // clear the pending bits! |
271 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
271 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
272 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
272 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
273 | // if debug UART is not UART1 |
273 | // if debug UART is not UART1 |
274 | if (DebugUART != UART1) |
274 | if (DebugUART != UART1) |
275 | { // forward received data to the debug UART tx buffer |
275 | { // forward received data to the debug UART tx buffer |
276 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
276 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
277 | { |
277 | { |
278 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
278 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
279 | c = UART_ReceiveData(UART1); |
279 | c = UART_ReceiveData(UART1); |
280 | 280 | ||
281 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
281 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
282 | switch (abortState) |
282 | switch (abortState) |
283 | { |
283 | { |
284 | case 0: |
284 | case 0: |
285 | if (c == 27) abortState++; |
285 | if (c == 27) abortState++; |
286 | break; |
286 | break; |
287 | case 1: |
287 | case 1: |
288 | if (c == 27) abortState++; |
288 | if (c == 27) abortState++; |
289 | else abortState = 0; |
289 | else abortState = 0; |
290 | break; |
290 | break; |
291 | case 2: |
291 | case 2: |
292 | if (c == 0x55) abortState++; |
292 | if (c == 0x55) abortState++; |
293 | else abortState = 0; |
293 | else abortState = 0; |
294 | break; |
294 | break; |
295 | case 3: |
295 | case 3: |
296 | if (c == 0xAA) abortState++; |
296 | if (c == 0xAA) abortState++; |
297 | else abortState = 0; |
297 | else abortState = 0; |
298 | break; |
298 | break; |
299 | case 4: |
299 | case 4: |
300 | if (c == 0x00) |
300 | if (c == 0x00) |
301 | { |
301 | { |
302 | if(DebugUART == UART0) |
302 | if(DebugUART == UART0) |
303 | { |
303 | { |
304 | UART0_Connect_to_MKGPS(); |
304 | UART0_Connect_to_MKGPS(); |
305 | TIMER2_Init(); // enbable servo outputs |
305 | TIMER2_Init(); // enbable servo outputs |
306 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
306 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
307 | } |
307 | } |
308 | DebugUART = UART1; |
308 | DebugUART = UART1; |
309 | } |
309 | } |
310 | abortState = 0; |
310 | abortState = 0; |
311 | break; |
311 | break; |
312 | } // end switch abort state |
312 | } // end switch abort state |
313 | // if the Debug uart is not UART1, redirect input to the Debug UART |
313 | // if the Debug uart is not UART1, redirect input to the Debug UART |
314 | if (DebugUART != UART1) |
314 | if (DebugUART != UART1) |
315 | { |
315 | { |
316 | // wait for space in the tx buffer of the DebugUART |
316 | // wait for space in the tx buffer of the DebugUART |
317 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
317 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
318 | // move byte to the tx fifo of the debug uart |
318 | // move byte to the tx fifo of the debug uart |
319 | UART_SendData(DebugUART, c); |
319 | UART_SendData(DebugUART, c); |
320 | } |
320 | } |
321 | } |
321 | } |
322 | } |
322 | } |
323 | else // DebugUART == UART1 (normal operation) |
323 | else // DebugUART == UART1 (normal operation) |
324 | { |
324 | { |
325 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
325 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
326 | { // some byes in the hardware fifo |
326 | { // some byes in the hardware fifo |
327 | // get byte from hardware fifo |
327 | // get byte from hardware fifo |
328 | c = UART_ReceiveData(UART1); |
328 | c = UART_ReceiveData(UART1); |
329 | // put into the software fifo |
329 | // put into the software fifo |
330 | if(!fifo_put(&UART1_rx_fifo, c)) |
330 | if(!fifo_put(&UART1_rx_fifo, c)) |
331 | { // fifo overflow |
331 | { // fifo overflow |
332 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
332 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
333 | } |
333 | } |
334 | } // EOF while some byes in the hardware fifo |
334 | } // EOF while some byes in the hardware fifo |
335 | } // eof DebugUart = UART1 |
335 | } // eof DebugUart = UART1 |
336 | } |
336 | } |
337 | } |
337 | } |
338 | 338 | ||
339 | /**************************************************************/ |
339 | /**************************************************************/ |
340 | /* Process incomming data from debug uart */ |
340 | /* Process incomming data from debug uart */ |
341 | /**************************************************************/ |
341 | /**************************************************************/ |
342 | void UART1_ProcessRxData(void) |
342 | void UART1_ProcessRxData(void) |
343 | { |
343 | { |
344 | // return on forwarding uart or unlocked rx buffer |
344 | // return on forwarding uart or unlocked rx buffer |
345 | if(DebugUART != UART1) return; |
345 | if(DebugUART != UART1) return; |
346 | 346 | ||
347 | u8 c; |
347 | u8 c; |
348 | // if rx buffer is not locked |
348 | // if rx buffer is not locked |
349 | if(UART1_rx_buffer.Locked == FALSE) |
349 | if(UART1_rx_buffer.Locked == FALSE) |
350 | { //collect data from primary rx fifo |
350 | { //collect data from primary rx fifo |
351 | while(fifo_get(&UART1_rx_fifo, &c)) |
351 | while(fifo_get(&UART1_rx_fifo, &c)) |
352 | { // break if complete frame is collected |
352 | { // break if complete frame is collected |
353 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
353 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
354 | } |
354 | } |
355 | } |
355 | } |
356 | if(UART1_rx_buffer.Locked == FALSE) return; |
356 | if(UART1_rx_buffer.Locked == FALSE) return; |
357 | 357 | ||
358 | Waypoint_t * pWaypoint = NULL; |
358 | Waypoint_t * pWaypoint = NULL; |
359 | SerialMsg_t SerialMsg; |
359 | SerialMsg_t SerialMsg; |
360 | 360 | ||
361 | MKProtocol_DecodeSerialFrame(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
361 | MKProtocol_DecodeSerialFrame(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
362 | if(*(SerialMsg.pCmdID) != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
362 | if(*(SerialMsg.pCmdID) != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
363 | switch(*(SerialMsg.pAddress)) // check for Slave Address |
363 | switch(*(SerialMsg.pAddress)) // check for Slave Address |
364 | { |
364 | { |
365 | case NC_ADDRESS: // own Slave Address |
365 | case NC_ADDRESS: // own Slave Address |
366 | switch(*(SerialMsg.pCmdID)) |
366 | switch(*(SerialMsg.pCmdID)) |
367 | { |
367 | { |
368 | case 'z': // connection checker |
368 | case 'z': // connection checker |
369 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
369 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
370 | UART1_Request_Echo = TRUE; |
370 | UART1_Request_Echo = TRUE; |
371 | break; |
371 | break; |
372 | 372 | ||
373 | case 'e': // request for the text of the error status |
373 | case 'e': // request for the text of the error status |
374 | UART1_Request_ErrorMessage = TRUE; |
374 | UART1_Request_ErrorMessage = TRUE; |
375 | break; |
375 | break; |
376 | 376 | ||
377 | case 's':// new target position |
377 | case 's':// new target position |
378 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
378 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
379 | BeepTime = 300; |
379 | BeepTime = 300; |
380 | if(pWaypoint->Position.Status == NEWDATA) |
380 | if(pWaypoint->Position.Status == NEWDATA) |
381 | { |
381 | { |
382 | WPList_Clear(); // empty WPList |
382 | WPList_Clear(); // empty WPList |
383 | WPList_Append(pWaypoint); |
383 | WPList_Append(pWaypoint); |
384 | GPS_pWaypoint = WPList_Begin(); |
384 | GPS_pWaypoint = WPList_Begin(); |
385 | } |
385 | } |
386 | break; |
386 | break; |
387 | 387 | ||
388 | case 'u': // redirect debug uart |
388 | case 'u': // redirect debug uart |
389 | switch(SerialMsg.pData[0]) |
389 | switch(SerialMsg.pData[0]) |
390 | { |
390 | { |
391 | case UART_FLIGHTCTRL: |
391 | case UART_FLIGHTCTRL: |
392 | UART2_Init(); // initialize UART2 to FC pins |
392 | UART2_Init(); // initialize UART2 to FC pins |
393 | fifo_purge(&UART1_rx_fifo); |
393 | fifo_purge(&UART1_rx_fifo); |
394 | DebugUART = UART2; |
394 | DebugUART = UART2; |
395 | break; |
395 | break; |
396 | case UART_MK3MAG: |
396 | case UART_MK3MAG: |
397 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
397 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
398 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
398 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
399 | GPSData.Status = INVALID; |
399 | GPSData.Status = INVALID; |
400 | fifo_purge(&UART1_rx_fifo); |
400 | fifo_purge(&UART1_rx_fifo); |
401 | DebugUART = UART0; |
401 | DebugUART = UART0; |
402 | break; |
402 | break; |
403 | case UART_MKGPS: |
403 | case UART_MKGPS: |
404 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
404 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
405 | TIMER2_Deinit(); |
405 | TIMER2_Deinit(); |
406 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
406 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
407 | GPSData.Status = INVALID; |
407 | GPSData.Status = INVALID; |
408 | fifo_purge(&UART1_rx_fifo); |
408 | fifo_purge(&UART1_rx_fifo); |
409 | DebugUART = UART0; |
409 | DebugUART = UART0; |
410 | break; |
410 | break; |
411 | default: |
411 | default: |
412 | break; |
412 | break; |
413 | } |
413 | } |
414 | break; |
414 | break; |
415 | 415 | ||
416 | case 'w':// Append Waypoint to List |
416 | case 'w':// Append Waypoint to List |
- | 417 | { |
|
- | 418 | static u8 oldIndex = 0x00; |
|
- | 419 | ||
417 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
420 | pWaypoint = (Waypoint_t*)SerialMsg.pData; |
418 | if(pWaypoint->Position.Status == INVALID) |
421 | if(pWaypoint->Position.Status == INVALID) |
419 | { // clear WP List |
422 | { // clear WP List |
420 | WPList_Clear(); |
423 | WPList_Clear(); |
- | 424 | oldIndex = 0x00; |
|
421 | GPS_pWaypoint = WPList_Begin(); |
425 | GPS_pWaypoint = WPList_Begin(); |
422 | //UART1_PutString("\r\nClear WP List\r\n"); |
426 | //UART1_PutString("\r\nClear WP List\r\n"); |
- | 427 | UART1_Request_NewWaypoint = TRUE; |
|
423 | } |
428 | } |
424 | else if (pWaypoint->Position.Status == NEWDATA) |
429 | else if (pWaypoint->Position.Status == NEWDATA) |
425 | { // app current WP to the list |
430 | { // app current WP to the list |
- | 431 | if (pWaypoint->Index == oldIndex + 1) |
|
- | 432 | { |
|
426 | WPList_Append(pWaypoint); |
433 | WPList_Append(pWaypoint); |
427 | BeepTime = 500; |
434 | BeepTime = 500; |
- | 435 | oldIndex = pWaypoint->Index; |
|
- | 436 | UART1_Request_NewWaypoint = TRUE; |
|
- | 437 | } |
|
- | 438 | ||
- | 439 | sprintf(text, "\r\nAdd WP: Index= %d, oldIndex = %d\r\n", pWaypoint->Index, oldIndex); |
|
428 | //UART1_PutString("\r\nAdd WP to List\r\n"); |
440 | UART1_PutString(text); |
429 | } |
441 | } |
430 | UART1_Request_NewWaypoint = TRUE; |
442 | } |
431 | break; |
443 | break; |
432 | 444 | ||
433 | case 'x':// Read Waypoint from List |
445 | case 'x':// Read Waypoint from List |
434 | UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
446 | UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
435 | break; |
447 | break; |
436 | 448 | ||
437 | case 'j':// Set/Get NC-Parameter |
449 | case 'j':// Set/Get NC-Parameter |
438 | switch(SerialMsg.pData[0]) |
450 | switch(SerialMsg.pData[0]) |
439 | { |
451 | { |
440 | case 0: // get |
452 | case 0: // get |
441 | break; |
453 | break; |
442 | 454 | ||
443 | case 1: // set |
455 | case 1: // set |
444 | { |
456 | { |
445 | s16 value; |
457 | s16 value; |
446 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
458 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
447 | NCParams_SetValue(SerialMsg.pData[1], &value); |
459 | NCParams_SetValue(SerialMsg.pData[1], &value); |
448 | } |
460 | } |
449 | break; |
461 | break; |
450 | 462 | ||
451 | default: |
463 | default: |
452 | break; |
464 | break; |
453 | } |
465 | } |
454 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
466 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
455 | UART1_Request_Parameter = TRUE; |
467 | UART1_Request_Parameter = TRUE; |
456 | break; |
468 | break; |
457 | default: |
469 | default: |
458 | // unsupported command recieved |
470 | // unsupported command recieved |
459 | break; |
471 | break; |
460 | } // case NC_ADDRESS |
472 | } // case NC_ADDRESS |
461 | // "break;" is missing here to fall thru to the common commands |
473 | // "break;" is missing here to fall thru to the common commands |
462 | 474 | ||
463 | default: // and any other Slave Address |
475 | default: // and any other Slave Address |
464 | 476 | ||
465 | switch(*(SerialMsg.pCmdID)) // check CmdID |
477 | switch(*(SerialMsg.pCmdID)) // check CmdID |
466 | { |
478 | { |
467 | case 'a':// request for the labels of the analog debug outputs |
479 | case 'a':// request for the labels of the analog debug outputs |
468 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
480 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
469 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
481 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
470 | break; |
482 | break; |
471 | 483 | ||
472 | case 'b': // submit extern control |
484 | case 'b': // submit extern control |
473 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
485 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
474 | UART1_ConfirmFrame = ExternControl.Frame; |
486 | UART1_ConfirmFrame = ExternControl.Frame; |
475 | break; |
487 | break; |
476 | 488 | ||
477 | case 'd': // request for debug data; |
489 | case 'd': // request for debug data; |
478 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
490 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
479 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
491 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
480 | break; |
492 | break; |
481 | 493 | ||
482 | case 'c': // request for 3D data; |
494 | case 'c': // request for 3D data; |
483 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
495 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
484 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
496 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
485 | break; |
497 | break; |
486 | 498 | ||
487 | case 'g':// request for external control data |
499 | case 'g':// request for external control data |
488 | UART1_Request_ExternalControl = TRUE; |
500 | UART1_Request_ExternalControl = TRUE; |
489 | break; |
501 | break; |
490 | 502 | ||
491 | case 'h':// reqest for display line |
503 | case 'h':// reqest for display line |
492 | RemoteKeys |= SerialMsg.pData[0]; |
504 | RemoteKeys |= SerialMsg.pData[0]; |
493 | if(RemoteKeys != 0) UART1_DisplayLine = 0; |
505 | if(RemoteKeys != 0) UART1_DisplayLine = 0; |
494 | UART1_Request_Display = TRUE; |
506 | UART1_Request_Display = TRUE; |
495 | break; |
507 | break; |
496 | 508 | ||
497 | case 'l':// reqest for display columns |
509 | case 'l':// reqest for display columns |
498 | MenuItem = SerialMsg.pData[0]; |
510 | MenuItem = SerialMsg.pData[0]; |
499 | UART1_Request_Display1 = TRUE; |
511 | UART1_Request_Display1 = TRUE; |
500 | break; |
512 | break; |
501 | 513 | ||
502 | case 'o': // request for navigation information |
514 | case 'o': // request for navigation information |
503 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
515 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
504 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
516 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
505 | break; |
517 | break; |
506 | 518 | ||
507 | case 'v': // request for version info |
519 | case 'v': // request for version info |
508 | UART1_Request_VersionInfo = TRUE; |
520 | UART1_Request_VersionInfo = TRUE; |
509 | break; |
521 | break; |
510 | default: |
522 | default: |
511 | // unsupported command recieved |
523 | // unsupported command recieved |
512 | break; |
524 | break; |
513 | } |
525 | } |
514 | break; // default: |
526 | break; // default: |
515 | } |
527 | } |
516 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
528 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
517 | } |
529 | } |
518 | 530 | ||
519 | 531 | ||
520 | /*****************************************************/ |
532 | /*****************************************************/ |
521 | /* Send a character */ |
533 | /* Send a character */ |
522 | /*****************************************************/ |
534 | /*****************************************************/ |
523 | s16 UART1_Putchar(char c) |
535 | s16 UART1_Putchar(char c) |
524 | { |
536 | { |
525 | if (c == '\n') UART1_Putchar('\r'); |
537 | if (c == '\n') UART1_Putchar('\r'); |
526 | // wait until txd fifo is not full |
538 | // wait until txd fifo is not full |
527 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
539 | while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
528 | // transmit byte |
540 | // transmit byte |
529 | UART_SendData(UART1, c); |
541 | UART_SendData(UART1, c); |
530 | return (0); |
542 | return (0); |
531 | } |
543 | } |
532 | 544 | ||
533 | /*****************************************************/ |
545 | /*****************************************************/ |
534 | /* Send a string to the debug uart */ |
546 | /* Send a string to the debug uart */ |
535 | /*****************************************************/ |
547 | /*****************************************************/ |
536 | void UART1_PutString(u8 *s) |
548 | void UART1_PutString(u8 *s) |
537 | { |
549 | { |
538 | if(s == NULL) return; |
550 | if(s == NULL) return; |
539 | while (*s != '\0' && DebugUART == UART1) |
551 | while (*s != '\0' && DebugUART == UART1) |
540 | { |
552 | { |
541 | UART1_Putchar(*s); |
553 | UART1_Putchar(*s); |
542 | s ++; |
554 | s ++; |
543 | } |
555 | } |
544 | } |
556 | } |
545 | 557 | ||
546 | 558 | ||
547 | /**************************************************************/ |
559 | /**************************************************************/ |
548 | /* Transmit tx buffer via debug uart */ |
560 | /* Transmit tx buffer via debug uart */ |
549 | /**************************************************************/ |
561 | /**************************************************************/ |
550 | void UART1_Transmit(void) |
562 | void UART1_Transmit(void) |
551 | { |
563 | { |
552 | u8 tmp_tx; |
564 | u8 tmp_tx; |
553 | if(DebugUART != UART1) return; |
565 | if(DebugUART != UART1) return; |
554 | // if something has to be send and the txd fifo is not full |
566 | // if something has to be send and the txd fifo is not full |
555 | if(UART1_tx_buffer.Locked == TRUE) |
567 | if(UART1_tx_buffer.Locked == TRUE) |
556 | { |
568 | { |
557 | // while there is some space in the tx fifo |
569 | // while there is some space in the tx fifo |
558 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
570 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
559 | { |
571 | { |
560 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
572 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
561 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
573 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
562 | // if terminating character or end of txd buffer reached |
574 | // if terminating character or end of txd buffer reached |
563 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
575 | if((tmp_tx == '\r') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
564 | { |
576 | { |
565 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
577 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
566 | break; // end while loop |
578 | break; // end while loop |
567 | } |
579 | } |
568 | } |
580 | } |
569 | } |
581 | } |
570 | } |
582 | } |
571 | 583 | ||
572 | /**************************************************************/ |
584 | /**************************************************************/ |
573 | /* Send the answers to incomming commands at the debug uart */ |
585 | /* Send the answers to incomming commands at the debug uart */ |
574 | /**************************************************************/ |
586 | /**************************************************************/ |
575 | void UART1_TransmitTxData(void) |
587 | void UART1_TransmitTxData(void) |
576 | { |
588 | { |
577 | if(DebugUART != UART1) return; |
589 | if(DebugUART != UART1) return; |
578 | UART1_Transmit(); // output pending bytes in tx buffer |
590 | UART1_Transmit(); // output pending bytes in tx buffer |
579 | if((UART1_tx_buffer.Locked == TRUE)) return; |
591 | if((UART1_tx_buffer.Locked == TRUE)) return; |
580 | 592 | ||
581 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
593 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
582 | { |
594 | { |
583 | s16 ParamValue; |
595 | s16 ParamValue; |
584 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
596 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
585 | //sprintf(text, "\r\nId=%d, value = %d\r\n", UART1_Request_ParameterId, ParamValue); |
597 | //sprintf(text, "\r\nId=%d, value = %d\r\n", UART1_Request_ParameterId, ParamValue); |
586 | //UART1_PutString(text); |
598 | //UART1_PutString(text); |
587 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
599 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
588 | UART1_Request_Parameter = FALSE; |
600 | UART1_Request_Parameter = FALSE; |
589 | } |
601 | } |
590 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
602 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
591 | { |
603 | { |
592 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
604 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
593 | Echo = 0; // reset echo value |
605 | Echo = 0; // reset echo value |
594 | UART1_Request_Echo = FALSE; |
606 | UART1_Request_Echo = FALSE; |
595 | } |
607 | } |
596 | else if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE)) |
608 | else if(UART1_Request_NewWaypoint && (UART1_tx_buffer.Locked == FALSE)) |
597 | { |
609 | { |
598 | u8 WPNumber = WPList_GetCount(); |
610 | u8 WPNumber = WPList_GetCount(); |
599 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
611 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
600 | UART1_Request_NewWaypoint = FALSE; |
612 | UART1_Request_NewWaypoint = FALSE; |
601 | } |
613 | } |
602 | else if((UART1_Request_ReadWaypoint != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
614 | else if((UART1_Request_ReadWaypoint != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
603 | { |
615 | { |
604 | u8 WPNumber = WPList_GetCount(); |
616 | u8 WPNumber = WPList_GetCount(); |
605 | if (UART1_Request_ReadWaypoint < WPNumber) |
617 | if (UART1_Request_ReadWaypoint < WPNumber) |
606 | { |
618 | { |
607 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &UART1_Request_ReadWaypoint, 1, WPList_GetAt(UART1_Request_ReadWaypoint), sizeof(Waypoint_t)); |
619 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &WPNumber, 1, &UART1_Request_ReadWaypoint, 1, WPList_GetAt(UART1_Request_ReadWaypoint), sizeof(Waypoint_t)); |
608 | } |
620 | } |
609 | else |
621 | else |
610 | { |
622 | { |
611 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
623 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
612 | } |
624 | } |
613 | UART1_Request_ReadWaypoint = 0xFF; |
625 | UART1_Request_ReadWaypoint = 0xFF; |
614 | } |
626 | } |
615 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
627 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
616 | { |
628 | { |
617 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
629 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
618 | UART1_Request_DebugLabel = 0xFF; |
630 | UART1_Request_DebugLabel = 0xFF; |
619 | } |
631 | } |
620 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
632 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
621 | { |
633 | { |
622 | NaviData.Errorcode = ErrorCode; |
634 | NaviData.Errorcode = ErrorCode; |
623 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
635 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
624 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
636 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
625 | UART1_Request_NaviData = FALSE; |
637 | UART1_Request_NaviData = FALSE; |
626 | } |
638 | } |
627 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
639 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
628 | { |
640 | { |
629 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
641 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
630 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
642 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
631 | UART1_Request_DebugData = FALSE; |
643 | UART1_Request_DebugData = FALSE; |
632 | } |
644 | } |
633 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
645 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
634 | { |
646 | { |
635 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
647 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
636 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
648 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
637 | UART1_Request_Data3D = FALSE; |
649 | UART1_Request_Data3D = FALSE; |
638 | } |
650 | } |
639 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
651 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
640 | { |
652 | { |
641 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
653 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
642 | UART1_ConfirmFrame = 0; |
654 | UART1_ConfirmFrame = 0; |
643 | } |
655 | } |
644 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
656 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
645 | { |
657 | { |
646 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
658 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
647 | UART1_Request_ExternalControl = FALSE; |
659 | UART1_Request_ExternalControl = FALSE; |
648 | } |
660 | } |
649 | else if(UART1_Request_Display && (UART1_tx_buffer.Locked == FALSE)) |
661 | else if(UART1_Request_Display && (UART1_tx_buffer.Locked == FALSE)) |
650 | { |
662 | { |
651 | LCD_PrintMenu(); |
663 | LCD_PrintMenu(); |
652 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&DisplayBuff[UART1_DisplayLine * 20], 20); |
664 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&DisplayBuff[UART1_DisplayLine * 20], 20); |
653 | UART1_DisplayLine++; |
665 | UART1_DisplayLine++; |
654 | if(UART1_DisplayLine >= 4) UART1_DisplayLine = 0; |
666 | if(UART1_DisplayLine >= 4) UART1_DisplayLine = 0; |
655 | UART1_Request_Display = FALSE; |
667 | UART1_Request_Display = FALSE; |
656 | } |
668 | } |
657 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
669 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
658 | { |
670 | { |
659 | LCD_PrintMenu(); |
671 | LCD_PrintMenu(); |
660 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
672 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
661 | UART1_Request_Display1 = FALSE; |
673 | UART1_Request_Display1 = FALSE; |
662 | } |
674 | } |
663 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
675 | else if(UART1_Request_VersionInfo && (UART1_tx_buffer.Locked == FALSE)) |
664 | { |
676 | { |
665 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
677 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
666 | UART1_Request_VersionInfo = FALSE; |
678 | UART1_Request_VersionInfo = FALSE; |
667 | } |
679 | } |
668 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
680 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
669 | { |
681 | { |
670 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
682 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
671 | UART1_Request_ErrorMessage = FALSE; |
683 | UART1_Request_ErrorMessage = FALSE; |
672 | } |
684 | } |
673 | else if(UART1_Request_SendFollowMe && (UART1_tx_buffer.Locked == FALSE) && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
685 | else if(UART1_Request_SendFollowMe && (UART1_tx_buffer.Locked == FALSE) && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
674 | { |
686 | { |
675 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
687 | GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
676 | FollowMe.Position.Status = NEWDATA; |
688 | FollowMe.Position.Status = NEWDATA; |
677 | FollowMe.Heading = -1; |
689 | FollowMe.Heading = -1; |
678 | FollowMe.ToleranceRadius = 1; |
690 | FollowMe.ToleranceRadius = 1; |
679 | FollowMe.HoldTime = 60; |
691 | FollowMe.HoldTime = 60; |
680 | FollowMe.Event_Flag = 0; |
692 | FollowMe.Event_Flag = 0; |
681 | FollowMe.reserve[0] = 0; // reserve |
693 | FollowMe.reserve[0] = 0; // reserve |
682 | FollowMe.reserve[1] = 0; // reserve |
694 | FollowMe.reserve[1] = 0; // reserve |
683 | FollowMe.reserve[2] = 0; // reserve |
695 | FollowMe.reserve[2] = 0; // reserve |
684 | FollowMe.reserve[3] = 0; // reserve |
696 | FollowMe.reserve[3] = 0; // reserve |
685 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
697 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
686 | UART1_Request_SendFollowMe = FALSE; |
698 | UART1_Request_SendFollowMe = FALSE; |
687 | } |
699 | } |
688 | UART1_Transmit(); // output pending bytes in tx buffer |
700 | UART1_Transmit(); // output pending bytes in tx buffer |
689 | } |
701 | } |
690 | 702 | ||
691 | 703 |