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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 "crc16.h" |
83 | #include "crc16.h" |
84 | #include "eeprom.h" |
84 | #include "eeprom.h" |
85 | 85 | ||
86 | #define LIC_CMD_READ_LICENSE 1 |
86 | #define LIC_CMD_READ_LICENSE 1 |
87 | #define LIC_CMD_WRITE_LICENSE 2 |
87 | #define LIC_CMD_WRITE_LICENSE 2 |
88 | #define LIC_CMD_ERASE_LICENSE 3 |
88 | #define LIC_CMD_ERASE_LICENSE 3 |
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 | NaviData_Volatile_t NaviData_Volatile; |
96 | NaviData_Volatile_t NaviData_Volatile; |
97 | NaviData_WP_t NaviData_WP; |
97 | NaviData_WP_t NaviData_WP; |
98 | NaviData_Deviation_t NaviData_Deviation; |
98 | NaviData_Deviation_t NaviData_Deviation; |
99 | NaviData_Home_t NaviData_Home; |
99 | NaviData_Home_t NaviData_Home; |
100 | NaviData_Target_t NaviData_Target; |
100 | NaviData_Target_t NaviData_Target; |
101 | NaviData_Flags_t NaviData_Flags; |
101 | NaviData_Flags_t NaviData_Flags; |
102 | NaviData_Tiny_t NaviData_Tiny; |
102 | NaviData_Tiny_t NaviData_Tiny; |
103 | NaviData_Pos_t NaviData_Failsafe; |
103 | NaviData_Pos_t NaviData_Failsafe; |
104 | NaviData_Out_t NaviData_Out1Trigger; |
104 | NaviData_Out_t NaviData_Out1Trigger; |
105 | NaviData_t NaviData; |
105 | NaviData_t NaviData; |
106 | 106 | ||
107 | u8 UART1_Request_VersionInfo = FALSE; |
107 | u8 UART1_Request_VersionInfo = FALSE; |
108 | u8 UART1_Request_ExternalControl= FALSE; |
108 | u8 UART1_Request_ExternalControl= FALSE; |
109 | u8 UART1_Request_Display = FALSE; |
109 | u8 UART1_Request_Display = FALSE; |
110 | u8 UART1_Request_Display1 = FALSE; |
110 | u8 UART1_Request_Display1 = FALSE; |
111 | u8 UART1_Request_DebugData = FALSE; |
111 | u8 UART1_Request_DebugData = FALSE; |
112 | u8 UART1_Request_DebugLabel = 255; |
112 | u8 UART1_Request_DebugLabel = 255; |
113 | u8 UART1_Request_NaviData = FALSE; |
113 | u8 UART1_Request_NaviData = FALSE; |
114 | u8 UART1_Request_ErrorMessage = FALSE; |
114 | u8 UART1_Request_ErrorMessage = FALSE; |
115 | u8 UART1_Request_WritePoint = 0xFF; |
115 | u8 UART1_Request_WritePoint = 0xFF; |
116 | u8 UART1_Request_ReadPoint = 0; |
116 | u8 UART1_Request_ReadPoint = 0; |
117 | u8 UART1_Request_Data3D = FALSE; |
117 | u8 UART1_Request_Data3D = FALSE; |
118 | u8 UART1_Request_MotorData = FALSE; |
118 | u8 UART1_Request_MotorData = FALSE; |
119 | u8 UART1_Request_Echo = FALSE; |
119 | u8 UART1_Request_Echo = FALSE; |
120 | u8 UART1_Request_ParameterId = 0; |
120 | u8 UART1_Request_ParameterId = 0; |
121 | u8 UART1_Request_WPLStore = FALSE; |
121 | u8 UART1_Request_WPLStore = FALSE; |
122 | u8 UART1_Request_Parameter = FALSE; |
122 | u8 UART1_Request_Parameter = FALSE; |
123 | u8 UART1_Request_SystemTime = FALSE; |
123 | u8 UART1_Request_SystemTime = FALSE; |
124 | u8 UART1_DisplayKeys = 0; |
124 | u8 UART1_DisplayKeys = 0; |
125 | u8 UART1_DisplayLine = 0; |
125 | u8 UART1_DisplayLine = 0; |
126 | u8 UART1_ConfirmFrame = 0; |
126 | u8 UART1_ConfirmFrame = 0; |
127 | u8 UART1_Request_FTP = FALSE; |
127 | u8 UART1_Request_FTP = FALSE; |
128 | u8 UART1_Request_LicenseString = FALSE; |
128 | u8 UART1_Request_LicenseString = FALSE; |
129 | u8 UART1_Request_PPM_Channels = FALSE; |
129 | u8 UART1_Request_PPM_Channels = FALSE; |
130 | u8 LastTransmittedFCStatusFlags2 = 0; |
130 | u8 LastTransmittedFCStatusFlags2 = 0; |
131 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
131 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
132 | u8 Send_NMEA_RMC = FALSE; |
132 | u8 Send_NMEA_RMC = FALSE; |
133 | u8 NaviData_Flags_SpeakHoTT_Processed = 0; |
133 | u8 NaviData_Flags_SpeakHoTT_Processed = 0; |
134 | u8 NewExternalControlFrame = 0; // flag that sends the Frame to FC |
134 | u8 NewExternalControlFrame = 0; // flag that sends the Frame to FC |
135 | 135 | ||
136 | SerialChannel_t SerialChannel; |
136 | SerialChannel_t SerialChannel; |
137 | u8 NewSerialChannelFrame = 0; // flag that sends the Frame to FC |
137 | u8 NewSerialChannelFrame = 0; // flag that sends the Frame to FC |
138 | 138 | ||
139 | UART_TypeDef *DebugUART = UART1; |
139 | UART_TypeDef *DebugUART = UART1; |
140 | 140 | ||
141 | #ifdef FOLLOW_ME |
141 | #ifdef FOLLOW_ME |
142 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
142 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
143 | u32 UART1_FollowMe_Timer = 0; |
143 | u32 UART1_FollowMe_Timer = 0; |
144 | Point_t FollowMe; |
144 | Point_t FollowMe; |
145 | #endif |
145 | #endif |
146 | 146 | ||
147 | // the primary rx fifo |
147 | // the primary rx fifo |
148 | #define UART1_RX_FIFO_LEN 1500 |
148 | #define UART1_RX_FIFO_LEN 1500 |
149 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
149 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
150 | fifo_t UART1_rx_fifo; |
150 | fifo_t UART1_rx_fifo; |
151 | 151 | ||
152 | // the rx buffer |
152 | // the rx buffer |
153 | #define UART1_RX_BUFFER_LEN 1500 |
153 | #define UART1_RX_BUFFER_LEN 1500 |
154 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
154 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
155 | Buffer_t UART1_rx_buffer; |
155 | Buffer_t UART1_rx_buffer; |
156 | 156 | ||
157 | // the tx buffer |
157 | // the tx buffer |
158 | //#define UART1_TX_BUFFER_LEN 1024 |
158 | //#define UART1_TX_BUFFER_LEN 1024 |
159 | #define UART1_TX_BUFFER_LEN 1500 |
159 | #define UART1_TX_BUFFER_LEN 1500 |
160 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
160 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
161 | Buffer_t UART1_tx_buffer; |
161 | Buffer_t UART1_tx_buffer; |
162 | 162 | ||
163 | volatile u8 SerialLinkOkay = 0; |
163 | volatile u8 SerialLinkOkay = 0; |
164 | 164 | ||
165 | u8 text[200]; |
165 | u8 text[200]; |
166 | u8 *LicensePtr = UART1_tbuffer; |
166 | u8 *LicensePtr = UART1_tbuffer; |
167 | 167 | ||
168 | const u8 ANALOG_LABEL[32][16] = |
168 | const u8 ANALOG_LABEL[32][16] = |
169 | { |
169 | { |
170 | //1234567890123456 |
170 | //1234567890123456 |
171 | "AngleNick ", //0 |
171 | "AngleNick ", //0 |
172 | "AngleRoll ", |
172 | "AngleRoll ", |
173 | "AccNick ", |
173 | "AccNick ", |
174 | "AccRoll ", |
174 | "AccRoll ", |
175 | "Altitude [0.1m] ", |
175 | "Altitude [0.1m] ", |
176 | "FC-Flags ", //5 |
176 | "FC-Flags ", //5 |
177 | "NC-Flags ", |
177 | "NC-Flags ", |
178 | "Voltage [0.1V] ", |
178 | "Voltage [0.1V] ", |
179 | "Current [0.1A] ", |
179 | "Current [0.1A] ", |
180 | "GPS Data ", |
180 | "GPS Data ", |
181 | "CompassHeading ", //10 |
181 | "CompassHeading ", //10 |
182 | "GyroHeading ", |
182 | "GyroHeading ", |
183 | "SPI Error ", // achtung: muss auf 12 bleiben |
183 | "SPI Error ", // achtung: muss auf 12 bleiben |
184 | "GPS CRC Error ", |
184 | "GPS CRC Error ", |
185 | "I2C Error ", |
185 | "I2C Error ", |
186 | "I2C Okay ", //15 |
186 | "I2C Okay ", //15 |
187 | "16 ", |
187 | "16 ", |
188 | "17 ", |
188 | "17 ", |
189 | "18 ", |
189 | "18 ", |
190 | "19 ", // SD-Card-time |
190 | "19 ", // SD-Card-time |
191 | "EarthMagnet [%] ", //20 |
191 | "EarthMagnet [%] ", //20 |
192 | "Ground Speed ", // "Z_Speed ", |
192 | "Ground Speed ", // "Z_Speed ", |
193 | "N_Speed ", |
193 | "N_Speed ", |
194 | "E_Speed ", |
194 | "E_Speed ", |
195 | "Magnet X ", |
195 | "Magnet X ", |
196 | "Magnet Y ", //25 |
196 | "Magnet Y ", //25 |
197 | "Magnet Z ", |
197 | "Magnet Z ", |
198 | "Distance N ", |
198 | "Distance N ", |
199 | "Distance E ", |
199 | "Distance E ", |
200 | "-GPS_Nick ", |
200 | "-GPS_Nick ", |
201 | "-GPS_Roll ", //30 |
201 | "-GPS_Roll ", //30 |
202 | "Used_Sats " |
202 | "Used_Sats " |
203 | }; |
203 | }; |
204 | 204 | ||
205 | typedef struct |
205 | typedef struct |
206 | { |
206 | { |
207 | u8 Index; |
207 | u8 Index; |
208 | u8 Status; |
208 | u8 Status; |
209 | } __attribute__((packed)) WPL_Answer_t; |
209 | } __attribute__((packed)) WPL_Answer_t; |
210 | WPL_Answer_t WPL_Answer; |
210 | WPL_Answer_t WPL_Answer; |
211 | 211 | ||
212 | DebugOut_t DebugOut; |
212 | DebugOut_t DebugOut; |
213 | ExternControl_t ExternControl; |
213 | ExternControl_t ExternControl; |
214 | UART_VersionInfo_t UART_VersionInfo; |
214 | UART_VersionInfo_t UART_VersionInfo; |
215 | NaviData_t NaviData; |
215 | NaviData_t NaviData; |
216 | Data3D_t Data3D; |
216 | Data3D_t Data3D; |
217 | 217 | ||
218 | u16 Echo; // 2 bytes recieved will be sent back as echo |
218 | u16 Echo; // 2 bytes recieved will be sent back as echo |
219 | 219 | ||
220 | u32 UART1_DebugData_Timer = 0; |
220 | u32 UART1_DebugData_Timer = 0; |
221 | u32 UART1_DebugData_Interval = 0; // in ms |
221 | u32 UART1_DebugData_Interval = 0; // in ms |
222 | u32 UART1_NaviData_Timer = 0; |
222 | u32 UART1_NaviData_Timer = 0; |
223 | u32 UART1_NaviData_Interval = 0; // in ms |
223 | u32 UART1_NaviData_Interval = 0; // in ms |
224 | u16 UART1_NaviData_MaxBytes = 0; // newer protocol? |
224 | u16 UART1_NaviData_MaxBytes = 0; // newer protocol? |
225 | u32 UART1_Data3D_Timer = 0; |
225 | u32 UART1_Data3D_Timer = 0; |
226 | u32 UART1_Data3D_Interval = 0; // in ms |
226 | u32 UART1_Data3D_Interval = 0; // in ms |
227 | u32 UART1_MotorData_Timer = 0; |
227 | u32 UART1_MotorData_Timer = 0; |
228 | u32 UART1_MotorData_Interval = 0; // in ms |
228 | u32 UART1_MotorData_Interval = 0; // in ms |
229 | u32 UART1_Display_Timer = 0; |
229 | u32 UART1_Display_Timer = 0; |
230 | u32 UART1_Display_Interval = 0; // in ms |
230 | u32 UART1_Display_Interval = 0; // in ms |
231 | u32 NMEA_Timer = 0; |
231 | u32 NMEA_Timer = 0; |
232 | u32 NMEA_Interval = 0;// in ms |
232 | u32 NMEA_Interval = 0;// in ms |
233 | 233 | ||
234 | u8 CalculateDebugLableCrc(void) |
234 | u8 CalculateDebugLableCrc(void) |
235 | { |
235 | { |
236 | u16 i; |
236 | u16 i; |
237 | u8 crc = 0; |
237 | u8 crc = 0; |
238 | for(i=0;i<sizeof(ANALOG_LABEL);i++) crc += ANALOG_LABEL[0][i]; |
238 | for(i=0;i<sizeof(ANALOG_LABEL);i++) crc += ANALOG_LABEL[0][i]; |
239 | return(crc); |
239 | return(crc); |
240 | } |
240 | } |
241 | 241 | ||
242 | /********************************************************/ |
242 | /********************************************************/ |
243 | /* Initialization the UART1 */ |
243 | /* Initialization the UART1 */ |
244 | /********************************************************/ |
244 | /********************************************************/ |
245 | void UART1_Init (void) |
245 | void UART1_Init (void) |
246 | { |
246 | { |
247 | GPIO_InitTypeDef GPIO_InitStructure; |
247 | GPIO_InitTypeDef GPIO_InitStructure; |
248 | UART_InitTypeDef UART_InitStructure; |
248 | UART_InitTypeDef UART_InitStructure; |
249 | 249 | ||
250 | // initialize txd buffer |
250 | // initialize txd buffer |
251 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
251 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
252 | 252 | ||
253 | // initialize rxd buffer |
253 | // initialize rxd buffer |
254 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
254 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
255 | 255 | ||
256 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
256 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
257 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
257 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
258 | 258 | ||
259 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
259 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
260 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
260 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
261 | 261 | ||
262 | /*Configure UART1_Rx pin GPIO3.2*/ |
262 | /*Configure UART1_Rx pin GPIO3.2*/ |
263 | GPIO_StructInit(&GPIO_InitStructure); |
263 | GPIO_StructInit(&GPIO_InitStructure); |
264 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
264 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
265 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
265 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
266 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
266 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
267 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
267 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
268 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
268 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
269 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
269 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
270 | 270 | ||
271 | /*Configure UART1_Tx pin GPIO3.3*/ |
271 | /*Configure UART1_Tx pin GPIO3.3*/ |
272 | GPIO_StructInit(&GPIO_InitStructure); |
272 | GPIO_StructInit(&GPIO_InitStructure); |
273 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
273 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
274 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
274 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
275 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
275 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
276 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
276 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
277 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
277 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
278 | 278 | ||
279 | // Control of PORT3.7 (FC-UART) |
279 | // Control of PORT3.7 (FC-UART) |
280 | GPIO_StructInit(&GPIO_InitStructure); |
280 | GPIO_StructInit(&GPIO_InitStructure); |
281 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
281 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
282 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
282 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
283 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
283 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
284 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; |
284 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; |
285 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
285 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
286 | DISABLE_FC_UART; |
286 | DISABLE_FC_UART; |
287 | 287 | ||
288 | /* UART1 configured as follow: |
288 | /* UART1 configured as follow: |
289 | - Word Length = 8 Bits |
289 | - Word Length = 8 Bits |
290 | - One Stop Bit |
290 | - One Stop Bit |
291 | - No parity |
291 | - No parity |
292 | - BaudRate = 57600 baud |
292 | - BaudRate = 57600 baud |
293 | - Hardware flow control Disabled |
293 | - Hardware flow control Disabled |
294 | - Receive and transmit enabled |
294 | - Receive and transmit enabled |
295 | - Receive and transmit FIFOs are Disabled |
295 | - Receive and transmit FIFOs are Disabled |
296 | */ |
296 | */ |
297 | UART_StructInit(&UART_InitStructure); |
297 | UART_StructInit(&UART_InitStructure); |
298 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
298 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
299 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
299 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
300 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
300 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
301 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
301 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
302 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
302 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
303 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
303 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
304 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
304 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
305 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
305 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
306 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
306 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
307 | 307 | ||
308 | UART_DeInit(UART1); // reset uart 1 to default |
308 | UART_DeInit(UART1); // reset uart 1 to default |
309 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
309 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
310 | // enable uart 1 interrupts selective |
310 | // enable uart 1 interrupts selective |
311 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
311 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
312 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
312 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
313 | // configure the uart 1 interupt line |
313 | // configure the uart 1 interupt line |
314 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
314 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
315 | // enable the uart 1 IRQ |
315 | // enable the uart 1 IRQ |
316 | VIC_ITCmd(UART1_ITLine, ENABLE); |
316 | VIC_ITCmd(UART1_ITLine, ENABLE); |
317 | 317 | ||
318 | // initialize the debug timer |
318 | // initialize the debug timer |
319 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
319 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
320 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
320 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
321 | NMEA_Timer = SetDelay(14000); |
321 | NMEA_Timer = SetDelay(14000); |
322 | 322 | ||
323 | // Fill Version Info Structure |
323 | // Fill Version Info Structure |
324 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
324 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
325 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
325 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
326 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
326 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
327 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
327 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
328 | UART_VersionInfo.HWMajor = Version_HW & 0x7F; |
328 | UART_VersionInfo.HWMajor = Version_HW & 0x7F; |
329 | UART_VersionInfo.BL_Firmware = 255; |
329 | UART_VersionInfo.BL_Firmware = 255; |
330 | UART_VersionInfo.Flags = 0; |
330 | UART_VersionInfo.Flags = 0; |
331 | UART_VersionInfo.LabelTextCRC = CalculateDebugLableCrc(); |
331 | UART_VersionInfo.LabelTextCRC = CalculateDebugLableCrc(); |
332 | NaviData.Version = NAVIDATA_VERSION; |
332 | NaviData.Version = NAVIDATA_VERSION; |
333 | 333 | ||
334 | PPM_In[PPM_IN_MAX] = +127; |
334 | PPM_In[PPM_IN_MAX] = +127; |
335 | PPM_In[PPM_IN_OFF] = -127; |
335 | PPM_In[PPM_IN_OFF] = -127; |
336 | PPM_In[PPM_IN_MID] = 0; |
336 | PPM_In[PPM_IN_MID] = 0; |
337 | 337 | ||
338 | UART1_PutString("\r\n UART1 init...ok"); |
338 | UART1_PutString("\r\n UART1 init...ok"); |
339 | } |
339 | } |
340 | 340 | ||
341 | 341 | ||
342 | /****************************************************************/ |
342 | /****************************************************************/ |
343 | /* USART1 receiver ISR */ |
343 | /* USART1 receiver ISR */ |
344 | /****************************************************************/ |
344 | /****************************************************************/ |
345 | void UART1_IRQHandler(void) |
345 | void UART1_IRQHandler(void) |
346 | { |
346 | { |
347 | static u8 abortState = 0; |
347 | static u8 abortState = 0; |
348 | u8 c; |
348 | u8 c; |
349 | 349 | ||
350 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
350 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
351 | { |
351 | { |
352 | // clear the pending bits! |
352 | // clear the pending bits! |
353 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
353 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
354 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
354 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
355 | // if debug UART is not UART1 |
355 | // if debug UART is not UART1 |
356 | if (DebugUART != UART1) |
356 | if (DebugUART != UART1) |
357 | { // forward received data to the debug UART tx buffer |
357 | { // forward received data to the debug UART tx buffer |
358 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
358 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
359 | { |
359 | { |
360 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
360 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
361 | c = UART_ReceiveData(UART1); |
361 | c = UART_ReceiveData(UART1); |
362 | 362 | ||
363 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
363 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
364 | switch (abortState) |
364 | switch (abortState) |
365 | { |
365 | { |
366 | case 0: |
366 | case 0: |
367 | if (c == 27) abortState++; |
367 | if (c == 27) abortState++; |
368 | break; |
368 | break; |
369 | case 1: |
369 | case 1: |
370 | if (c == 27) abortState++; |
370 | if (c == 27) abortState++; |
371 | else abortState = 0; |
371 | else abortState = 0; |
372 | break; |
372 | break; |
373 | case 2: |
373 | case 2: |
374 | if (c == 0x55) abortState++; |
374 | if (c == 0x55) abortState++; |
375 | else abortState = 0; |
375 | else abortState = 0; |
376 | break; |
376 | break; |
377 | case 3: |
377 | case 3: |
378 | if (c == 0xAA) abortState++; |
378 | if (c == 0xAA) abortState++; |
379 | else abortState = 0; |
379 | else abortState = 0; |
380 | break; |
380 | break; |
381 | case 4: |
381 | case 4: |
382 | if (c == 0x00) |
382 | if (c == 0x00) |
383 | { |
383 | { |
384 | if(DebugUART == UART0) |
384 | if(DebugUART == UART0) |
385 | { |
385 | { |
386 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
386 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
387 | TIMER2_Init(); // enbable servo outputs |
387 | TIMER2_Init(); // enbable servo outputs |
388 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
388 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
389 | } |
389 | } |
390 | DebugUART = UART1; |
390 | DebugUART = UART1; |
391 | DISABLE_FC_UART; |
391 | DISABLE_FC_UART; |
392 | } |
392 | } |
393 | abortState = 0; |
393 | abortState = 0; |
394 | break; |
394 | break; |
395 | } // end switch abort state |
395 | } // end switch abort state |
396 | // if the Debug uart is not UART1, redirect input to the Debug UART |
396 | // if the Debug uart is not UART1, redirect input to the Debug UART |
397 | if (DebugUART != UART1) |
397 | if (DebugUART != UART1) |
398 | { |
398 | { |
399 | // wait for space in the tx buffer of the DebugUART |
399 | // wait for space in the tx buffer of the DebugUART |
400 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
400 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
401 | // move byte to the tx fifo of the debug uart |
401 | // move byte to the tx fifo of the debug uart |
402 | UART_SendData(DebugUART, c); |
402 | UART_SendData(DebugUART, c); |
403 | } |
403 | } |
404 | } |
404 | } |
405 | } |
405 | } |
406 | else // DebugUART == UART1 (normal operation) |
406 | else // DebugUART == UART1 (normal operation) |
407 | { |
407 | { |
408 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
408 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
409 | { // some byes in the hardware fifo |
409 | { // some byes in the hardware fifo |
410 | // get byte from hardware fifo |
410 | // get byte from hardware fifo |
411 | c = UART_ReceiveData(UART1); |
411 | c = UART_ReceiveData(UART1); |
412 | // put into the software fifo |
412 | // put into the software fifo |
413 | if(!fifo_put(&UART1_rx_fifo, c)) |
413 | if(!fifo_put(&UART1_rx_fifo, c)) |
414 | { // fifo overflow |
414 | { // fifo overflow |
415 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
415 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
416 | } |
416 | } |
417 | } // EOF while some byes in the hardware fifo |
417 | } // EOF while some byes in the hardware fifo |
418 | } // eof DebugUart = UART1 |
418 | } // eof DebugUart = UART1 |
419 | } |
419 | } |
420 | 420 | ||
421 | 421 | ||
422 | 422 | ||
423 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
423 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
424 | } |
424 | } |
425 | 425 | ||
426 | /**************************************************************/ |
426 | /**************************************************************/ |
427 | /* Process incomming data from debug uart */ |
427 | /* Process incomming data from debug uart */ |
428 | /**************************************************************/ |
428 | /**************************************************************/ |
429 | void UART1_ProcessRxData(void) |
429 | void UART1_ProcessRxData(void) |
430 | { |
430 | { |
431 | // return on forwarding uart or unlocked rx buffer |
431 | // return on forwarding uart or unlocked rx buffer |
432 | u8 c; |
432 | u8 c; |
433 | if(DebugUART != UART1) return; |
433 | if(DebugUART != UART1) return; |
434 | // if rx buffer is not locked |
434 | // if rx buffer is not locked |
435 | if(UART1_rx_buffer.Locked == FALSE) |
435 | if(UART1_rx_buffer.Locked == FALSE) |
436 | { |
436 | { |
437 | //collect data from primary rx fifo |
437 | //collect data from primary rx fifo |
438 | while(fifo_get(&UART1_rx_fifo, &c)) |
438 | while(fifo_get(&UART1_rx_fifo, &c)) |
439 | { |
439 | { |
440 | // break if complete frame is collected |
440 | // break if complete frame is collected |
441 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
441 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
442 | } |
442 | } |
443 | } |
443 | } |
444 | if(UART1_rx_buffer.Locked == FALSE) return; |
444 | if(UART1_rx_buffer.Locked == FALSE) return; |
445 | 445 | ||
446 | Point_t * pPoint = NULL; |
446 | Point_t * pPoint = NULL; |
447 | SerialMsg_t SerialMsg; |
447 | SerialMsg_t SerialMsg; |
448 | 448 | ||
449 | // analyze header first |
449 | // analyze header first |
450 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
450 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
451 | /* |
451 | /* |
452 | if( SerialMsg.Address == FC_ADDRESS ) |
452 | if( SerialMsg.Address == FC_ADDRESS ) |
453 | { |
453 | { |
454 | switch(SerialMsg.CmdID) |
454 | switch(SerialMsg.CmdID) |
455 | { |
455 | { |
456 | // case 'b': // extern control |
456 | // case 'b': // extern control |
457 | // UART1_ExternalControlConfirmFrame = 1; |
457 | // UART1_ExternalControlConfirmFrame = 1; |
458 | // case 'y': // serial poti values |
458 | // case 'y': // serial poti values |
459 | // Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
459 | // Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
460 | // Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
460 | // Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
461 | // return; //end process rx data |
461 | // return; //end process rx data |
462 | break; |
462 | break; |
463 | } |
463 | } |
464 | } |
464 | } |
465 | */ |
465 | */ |
466 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
466 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
467 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
467 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
468 | switch(SerialMsg.Address) // check for Slave Address |
468 | switch(SerialMsg.Address) // check for Slave Address |
469 | { |
469 | { |
470 | case NC_ADDRESS: // own Slave Address |
470 | case NC_ADDRESS: // own Slave Address |
471 | switch(SerialMsg.CmdID) |
471 | switch(SerialMsg.CmdID) |
472 | { |
472 | { |
473 | case 't': // request for the GPS time |
473 | case 't': // request for the GPS time |
474 | UART1_Request_SystemTime = TRUE; |
474 | UART1_Request_SystemTime = TRUE; |
475 | break; |
475 | break; |
476 | 476 | ||
477 | case 'm': // request for the license string |
477 | case 'm': // request for the license string |
478 | UART1_Request_LicenseString = SerialMsg.pData[0]; |
478 | UART1_Request_LicenseString = SerialMsg.pData[0]; |
479 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && (UART_VersionInfo.HWMajor >= 20)) |
479 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && (UART_VersionInfo.HWMajor >= 20)) |
480 | { |
480 | { |
481 | memcpy(LicensePtr, &SerialMsg.pData[1],LICENSE_SIZE_TEXT); // copy ftp parameter |
481 | memcpy(LicensePtr, &SerialMsg.pData[1],LICENSE_SIZE_TEXT); // copy ftp parameter |
482 | } |
482 | } |
483 | break; |
483 | break; |
484 | case 'f': // ftp command |
484 | case 'f': // ftp command |
485 | UART1_Request_FTP = SerialMsg.pData[0]; |
485 | UART1_Request_FTP = SerialMsg.pData[0]; |
486 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
486 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
487 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
487 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
488 | break; |
488 | break; |
489 | 489 | ||
490 | case 'z': // connection checker |
490 | case 'z': // connection checker |
491 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
491 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
492 | UART1_Request_Echo = TRUE; |
492 | UART1_Request_Echo = TRUE; |
493 | break; |
493 | break; |
494 | 494 | ||
495 | case 'e': // request for the text of the error status |
495 | case 'e': // request for the text of the error status |
496 | UART1_Request_ErrorMessage = TRUE; |
496 | UART1_Request_ErrorMessage = TRUE; |
497 | break; |
497 | break; |
498 | 498 | ||
499 | case 's':// new target position |
499 | case 's':// new target position |
500 | pPoint = (Point_t*)SerialMsg.pData; |
500 | pPoint = (Point_t*)SerialMsg.pData; |
501 | if(pPoint->Position.Status == NEWDATA) |
501 | if(pPoint->Position.Status == NEWDATA) |
502 | { |
502 | { |
503 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
503 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
504 | //pPoint->Index = 1; // must be one after empty list |
504 | //pPoint->Index = 1; // must be one after empty list |
505 | PointList_SetAt(pPoint); |
505 | PointList_SetAt(pPoint); |
506 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
506 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
507 | // GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
507 | // GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
508 | 508 | ||
509 | 509 | ||
510 | if(CurrentlyFlyingWaypoints) |
510 | if(CurrentlyFlyingWaypoints) |
511 | { |
511 | { |
512 | GPS_pWaypoint = PointList_WPBegin(); |
512 | GPS_pWaypoint = PointList_WPBegin(); |
513 | NewWaypointsReceived = 0; // Only an update |
513 | NewWaypointsReceived = 0; // Only an update |
514 | } |
514 | } |
515 | BeepTime = 50; |
515 | BeepTime = 50; |
516 | } |
516 | } |
517 | else |
517 | else |
518 | if((pPoint->Position.Status == SIMULATION) && !(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN)) |
518 | if((pPoint->Position.Status == SIMULATION) && !(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN)) |
519 | { |
519 | { |
520 | if(pPoint->Event_Flag & SIMULATION_MOTOR_ON) |
520 | if(pPoint->Event_Flag & SIMULATION_MOTOR_ON) |
521 | { |
521 | { |
522 | GPSPos_Copy(&(pPoint->Position), &SimulationPosition); // update hold position |
522 | GPSPos_Copy(&(pPoint->Position), &SimulationPosition); // update hold position |
523 | CompassDirectionAtMotorStart = SimulatedDirection*10; |
523 | CompassDirectionAtMotorStart = SimulatedDirection*10; |
524 | } |
524 | } |
525 | if(!(SimulationFlags & SIMULATION_MOTOR_ON) && (pPoint->Event_Flag & SIMULATION_MOTOR_ON)) |
525 | if(!(SimulationFlags & SIMULATION_MOTOR_ON) && (pPoint->Event_Flag & SIMULATION_MOTOR_ON)) |
526 | { |
526 | { |
527 | SimulationFlags = pPoint->Event_Flag | SIMULATION_MOTOR_START; // dann steht da noch nicht "SIMULATION_MOTOR_ON" drin |
527 | SimulationFlags = pPoint->Event_Flag | SIMULATION_MOTOR_START; // dann steht da noch nicht "SIMULATION_MOTOR_ON" drin |
528 | SpeakHoTT = SPEAK_STARTING; |
528 | SpeakHoTT = SPEAK_STARTING; |
529 | } |
529 | } |
530 | else |
530 | else |
531 | if(!(pPoint->Event_Flag & SIMULATION_MOTOR_ON) && (SimulationFlags & SIMULATION_MOTOR_ON)) |
531 | if(!(pPoint->Event_Flag & SIMULATION_MOTOR_ON) && (SimulationFlags & SIMULATION_MOTOR_ON)) |
532 | { |
532 | { |
533 | SimulationFlags = pPoint->Event_Flag; |
533 | SimulationFlags = pPoint->Event_Flag; |
534 | SpeakHoTT = SPEAK_MK_OFF; |
534 | SpeakHoTT = SPEAK_MK_OFF; |
535 | BeepTime = 50; |
535 | BeepTime = 50; |
536 | } |
536 | } |
537 | else |
537 | else |
538 | SimulationFlags = pPoint->Event_Flag | (SimulationFlags & SIMULATION_MOTOR_START); |
538 | SimulationFlags = pPoint->Event_Flag | (SimulationFlags & SIMULATION_MOTOR_START); |
539 | } |
539 | } |
540 | break; |
540 | break; |
541 | case 'u': // redirect debug uart |
541 | case 'u': // redirect debug uart |
542 | switch(SerialMsg.pData[0]) |
542 | switch(SerialMsg.pData[0]) |
543 | { |
543 | { |
544 | case UART_FLIGHTCTRL: |
544 | case UART_FLIGHTCTRL: |
545 | ENABLE_FC_UART; |
545 | ENABLE_FC_UART; |
546 | UART2_Init(); // initialize UART2 to FC pins |
546 | UART2_Init(); // initialize UART2 to FC pins |
547 | fifo_purge(&UART1_rx_fifo); |
547 | fifo_purge(&UART1_rx_fifo); |
548 | TIMER2_Deinit(); // reduce irq load |
548 | TIMER2_Deinit(); // reduce irq load |
549 | DebugUART = UART2; |
549 | DebugUART = UART2; |
550 | break; |
550 | break; |
551 | case UART_MK3MAG: |
551 | case UART_MK3MAG: |
552 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
552 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
553 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
553 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
554 | GPSData.Status = INVALID; |
554 | GPSData.Status = INVALID; |
555 | fifo_purge(&UART1_rx_fifo); |
555 | fifo_purge(&UART1_rx_fifo); |
556 | DebugUART = UART0; |
556 | DebugUART = UART0; |
557 | break; |
557 | break; |
558 | case UART_MKGPS: |
558 | case UART_MKGPS: |
559 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
559 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
560 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
560 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
561 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
561 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
562 | GPSData.Status = INVALID; |
562 | GPSData.Status = INVALID; |
563 | fifo_purge(&UART1_rx_fifo); |
563 | fifo_purge(&UART1_rx_fifo); |
564 | DebugUART = UART0; |
564 | DebugUART = UART0; |
565 | break; |
565 | break; |
566 | default: |
566 | default: |
567 | break; |
567 | break; |
568 | } |
568 | } |
569 | break; |
569 | break; |
570 | 570 | ||
571 | case 'w':// Set point in list at index |
571 | case 'w':// Set point in list at index |
572 | { |
572 | { |
573 | pPoint = (Point_t*)SerialMsg.pData; |
573 | pPoint = (Point_t*)SerialMsg.pData; |
574 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
574 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
575 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
575 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
576 | { |
576 | { |
577 | PointList_Clear(); |
577 | PointList_Clear(); |
578 | GPS_pWaypoint = PointList_WPBegin(); |
578 | GPS_pWaypoint = PointList_WPBegin(); |
579 | UART1_Request_WritePoint = 0; // return new point count |
579 | UART1_Request_WritePoint = 0; // return new point count |
580 | NewWaypointsReceived = 1; |
580 | NewWaypointsReceived = 1; |
581 | } |
581 | } |
582 | else |
582 | else |
583 | { // update WP in list at index |
583 | { // update WP in list at index |
584 | if(pPoint->Index > MaxNumberOfWaypoints) |
584 | if(pPoint->Index > MaxNumberOfWaypoints) |
585 | { |
585 | { |
586 | UART1_Request_WritePoint = 254; |
586 | UART1_Request_WritePoint = 254; |
587 | pPoint->Index = MaxNumberOfWaypoints; |
587 | pPoint->Index = MaxNumberOfWaypoints; |
588 | } |
588 | } |
589 | else UART1_Request_WritePoint = PointList_SetAt(pPoint); |
589 | else UART1_Request_WritePoint = PointList_SetAt(pPoint); |
590 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
590 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
591 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
591 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
592 | if(UART1_Request_WritePoint == pPoint->Index) |
592 | if(UART1_Request_WritePoint == pPoint->Index) |
593 | { |
593 | { |
594 | BeepTime = 500; |
594 | BeepTime = 500; |
595 | if(UART1_Request_WritePoint == 1) SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
595 | if(UART1_Request_WritePoint == 1) SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
596 | } |
596 | } |
597 | } |
597 | } |
598 | } |
598 | } |
599 | break; |
599 | break; |
600 | 600 | ||
601 | case 'x':// Read Waypoint from List |
601 | case 'x':// Read Waypoint from List |
602 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
602 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
603 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
603 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
604 | break; |
604 | break; |
605 | 605 | ||
606 | case 'i':// Store WP List to file |
606 | case 'i':// Store WP List to file |
607 | memcpy((u8*)&WPL_Store, SerialMsg.pData, sizeof(WPL_Store_t)); |
607 | memcpy((u8*)&WPL_Store, SerialMsg.pData, sizeof(WPL_Store_t)); |
608 | WPL_Store.Name[11] = 0; // make sure the name string is terminated |
608 | WPL_Store.Name[11] = 0; // make sure the name string is terminated |
609 | WPL_Answer.Index = WPL_Store.Index; // echo Index in cmd answer |
609 | WPL_Answer.Index = WPL_Store.Index; // echo Index in cmd answer |
610 | WPL_Answer.Status = PointList_WriteToFile(&WPL_Store); |
610 | WPL_Answer.Status = PointList_WriteToFile(&WPL_Store); |
611 | UART1_Request_WPLStore = TRUE; |
611 | UART1_Request_WPLStore = TRUE; |
612 | break; |
612 | break; |
613 | 613 | ||
614 | case 'j':// Set/Get NC-Parameter |
614 | case 'j':// Set/Get NC-Parameter |
615 | switch(SerialMsg.pData[0]) |
615 | switch(SerialMsg.pData[0]) |
616 | { |
616 | { |
617 | case 0: // get |
617 | case 0: // get |
618 | break; |
618 | break; |
619 | 619 | ||
620 | case 1: // set |
620 | case 1: // set |
621 | { |
621 | { |
622 | s16 value; |
622 | s16 value; |
623 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
623 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
624 | NCParams_SetValue(SerialMsg.pData[1], &value); |
624 | NCParams_SetValue(SerialMsg.pData[1], &value); |
625 | } |
625 | } |
626 | break; |
626 | break; |
627 | 627 | ||
628 | default: |
628 | default: |
629 | break; |
629 | break; |
630 | } |
630 | } |
631 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
631 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
632 | UART1_Request_Parameter = TRUE; |
632 | UART1_Request_Parameter = TRUE; |
633 | break; |
633 | break; |
634 | default: |
634 | default: |
635 | // unsupported command recieved |
635 | // unsupported command recieved |
636 | break; |
636 | break; |
637 | } // case NC_ADDRESS |
637 | } // case NC_ADDRESS |
638 | // "break;" is missing here to fall thru to the common commands |
638 | // "break;" is missing here to fall thru to the common commands |
639 | 639 | ||
640 | default: // and any other Slave Address |
640 | default: // and any other Slave Address |
641 | 641 | ||
642 | switch(SerialMsg.CmdID) // check CmdID |
642 | switch(SerialMsg.CmdID) // check CmdID |
643 | { |
643 | { |
644 | case 'a':// request for the labels of the analog debug outputs |
644 | case 'a':// request for the labels of the analog debug outputs |
645 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
645 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
646 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
646 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
647 | break; |
647 | break; |
648 | 648 | ||
649 | case 'b': // submit extern control |
649 | case 'b': // submit extern control |
650 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
650 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
651 | UART1_ConfirmFrame = ExternControl.Frame; |
651 | UART1_ConfirmFrame = ExternControl.Frame; |
652 | NewExternalControlFrame = 1; |
652 | NewExternalControlFrame = 1; |
653 | break; |
653 | break; |
654 | 654 | ||
655 | case 'y': // serial Channels |
655 | case 'y': // serial Channels |
656 | memcpy(&SerialChannel, SerialMsg.pData, sizeof(SerialChannel)); |
656 | memcpy(&SerialChannel, SerialMsg.pData, sizeof(SerialChannel)); |
657 | memcpy((u8 *) &(PPM_In[SERIAL_POTI_START]), (u8 *) &SerialChannel, 12); // copy the 12 Bytes Serial Channels into the PPM_In array |
657 | memcpy((u8 *) &(PPM_In[SERIAL_POTI_START]), (u8 *) &SerialChannel, 12); // copy the 12 Bytes Serial Channels into the PPM_In array |
658 | NewSerialChannelFrame = 1; |
658 | NewSerialChannelFrame = 1; |
659 | break; |
659 | break; |
660 | 660 | ||
661 | case 'g':// request for the externalControl |
661 | case 'g':// request for the externalControl |
662 | UART1_Request_ExternalControl = TRUE; |
662 | UART1_Request_ExternalControl = TRUE; |
663 | break; |
663 | break; |
664 | 664 | ||
665 | case 'p':// request for the PPM_In |
665 | case 'p':// request for the PPM_In |
666 | UART1_Request_PPM_Channels = TRUE; |
666 | UART1_Request_PPM_Channels = TRUE; |
667 | break; |
667 | break; |
668 | 668 | ||
669 | case 'd': // request for debug data; |
669 | case 'd': // request for debug data; |
670 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
670 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
671 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
671 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
672 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
672 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
673 | break; |
673 | break; |
674 | 674 | ||
675 | case 'c': // request for 3D data; |
675 | case 'c': // request for 3D data; |
676 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
676 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
677 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
677 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
678 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
678 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
679 | break; |
679 | break; |
680 | 680 | ||
681 | case 'k': // request for Motor data; |
681 | case 'k': // request for Motor data; |
682 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
682 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
683 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
683 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
684 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
684 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
685 | break; |
685 | break; |
686 | 686 | ||
687 | case 'h':// reqest for display line |
687 | case 'h':// reqest for display line |
688 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
688 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
689 | { |
689 | { |
690 | UART1_DisplayLine = 2; |
690 | UART1_DisplayLine = 2; |
691 | UART1_Display_Interval = 0; |
691 | UART1_Display_Interval = 0; |
692 | UART1_Request_Display = TRUE; |
692 | UART1_Request_Display = TRUE; |
693 | } |
693 | } |
694 | else |
694 | else |
695 | { |
695 | { |
696 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
696 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
697 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
697 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
698 | UART1_DisplayLine = 4; |
698 | UART1_DisplayLine = 4; |
699 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
699 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
700 | if(UART1_Display_Interval) UART1_Request_Display = TRUE; |
700 | if(UART1_Display_Interval) UART1_Request_Display = TRUE; |
701 | } |
701 | } |
702 | break; |
702 | break; |
703 | 703 | ||
704 | case 'l':// reqest for display columns |
704 | case 'l':// reqest for display columns |
705 | MenuItem = SerialMsg.pData[0]; |
705 | MenuItem = SerialMsg.pData[0]; |
706 | UART1_Request_Display1 = TRUE; |
706 | UART1_Request_Display1 = TRUE; |
707 | break; |
707 | break; |
708 | 708 | ||
709 | case 'o': // request for navigation information |
709 | case 'o': // request for navigation information |
710 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
710 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
711 | if(SerialMsg.DataLen > 2) UART1_NaviData_MaxBytes = SerialMsg.pData[1] * 256 + SerialMsg.pData[2]; |
711 | if(SerialMsg.DataLen > 2) UART1_NaviData_MaxBytes = SerialMsg.pData[1] * 256 + SerialMsg.pData[2]; |
712 | else UART1_NaviData_MaxBytes = 0; |
712 | else UART1_NaviData_MaxBytes = 0; |
713 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
713 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
714 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
714 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
- | 715 | if(UART1_NaviData_Interval < 100) UART1_NaviData_Interval = 100; |
|
715 | break; |
716 | break; |
716 | 717 | ||
717 | case 'v': // request for version info |
718 | case 'v': // request for version info |
718 | if(SerialMsg.DataLen > 0 && SerialMsg.pData[0] == 1) UART1_Request_VersionInfo = 1; |
719 | if(SerialMsg.DataLen > 0 && SerialMsg.pData[0] == 1) UART1_Request_VersionInfo = 1; |
719 | else UART1_Request_VersionInfo = 2; |
720 | else UART1_Request_VersionInfo = 2; |
720 | break; |
721 | break; |
721 | default: |
722 | default: |
722 | // unsupported command recieved |
723 | // unsupported command recieved |
723 | break; |
724 | break; |
724 | } |
725 | } |
725 | break; // default: |
726 | break; // default: |
726 | } |
727 | } |
727 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
728 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
728 | } |
729 | } |
729 | 730 | ||
730 | 731 | ||
731 | /*****************************************************/ |
732 | /*****************************************************/ |
732 | /* Send a character */ |
733 | /* Send a character */ |
733 | /*****************************************************/ |
734 | /*****************************************************/ |
734 | s16 UART1_Putchar(char c) |
735 | s16 UART1_Putchar(char c) |
735 | { |
736 | { |
736 | u32 timeout = 10000; |
737 | u32 timeout = 10000; |
737 | if (c == '\n') UART1_Putchar('\r'); |
738 | if (c == '\n') UART1_Putchar('\r'); |
738 | // wait until txd fifo is not full |
739 | // wait until txd fifo is not full |
739 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
740 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
740 | // transmit byte |
741 | // transmit byte |
741 | UART_SendData(UART1, c); |
742 | UART_SendData(UART1, c); |
742 | #ifdef FOLLOW_ME |
743 | #ifdef FOLLOW_ME |
743 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
744 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
744 | #endif |
745 | #endif |
745 | return (0); |
746 | return (0); |
746 | } |
747 | } |
747 | 748 | ||
748 | /*****************************************************/ |
749 | /*****************************************************/ |
749 | /* Send a string to the debug uart */ |
750 | /* Send a string to the debug uart */ |
750 | /*****************************************************/ |
751 | /*****************************************************/ |
751 | void UART1_PutString(u8 *s) |
752 | void UART1_PutString(u8 *s) |
752 | { |
753 | { |
753 | if(s == NULL) return; |
754 | if(s == NULL) return; |
754 | while (*s != '\0' && DebugUART == UART1) |
755 | while (*s != '\0' && DebugUART == UART1) |
755 | { |
756 | { |
756 | UART1_Putchar(*s); |
757 | UART1_Putchar(*s); |
757 | s ++; |
758 | s ++; |
758 | } |
759 | } |
759 | } |
760 | } |
760 | 761 | ||
761 | 762 | ||
762 | /**************************************************************/ |
763 | /**************************************************************/ |
763 | /* Transmit tx buffer via debug uart */ |
764 | /* Transmit tx buffer via debug uart */ |
764 | /**************************************************************/ |
765 | /**************************************************************/ |
765 | void UART1_Transmit(void) |
766 | void UART1_Transmit(void) |
766 | { |
767 | { |
767 | u8 tmp_tx; |
768 | u8 tmp_tx; |
768 | if(DebugUART != UART1) return; |
769 | if(DebugUART != UART1) return; |
769 | // if something has to be send and the txd fifo is not full |
770 | // if something has to be send and the txd fifo is not full |
770 | if(UART1_tx_buffer.Locked == TRUE) |
771 | if(UART1_tx_buffer.Locked == TRUE) |
771 | { |
772 | { |
772 | // while there is some space in the tx fifo |
773 | // while there is some space in the tx fifo |
773 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
774 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
774 | { |
775 | { |
775 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
776 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
776 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
777 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
777 | #ifdef FOLLOW_ME |
778 | #ifdef FOLLOW_ME |
778 | if(TransmitAlsoToFC) |
779 | if(TransmitAlsoToFC) |
779 | { |
780 | { |
780 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
781 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
781 | } |
782 | } |
782 | #endif |
783 | #endif |
783 | // if terminating character or end of txd buffer reached |
784 | // if terminating character or end of txd buffer reached |
784 | if((tmp_tx == '\0') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
785 | if((tmp_tx == '\0') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
785 | { |
786 | { |
786 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
787 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
787 | #ifdef FOLLOW_ME |
788 | #ifdef FOLLOW_ME |
788 | TransmitAlsoToFC = 0; |
789 | TransmitAlsoToFC = 0; |
789 | #endif |
790 | #endif |
790 | break; // end while loop |
791 | break; // end while loop |
791 | } |
792 | } |
792 | } |
793 | } |
793 | } |
794 | } |
794 | } |
795 | } |
795 | 796 | ||
796 | //$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
797 | //$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
797 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
798 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
798 | //$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C |
799 | //$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C |
799 | //http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm |
800 | //http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm |
800 | 801 | ||
801 | void CreateNmeaGGA(void) |
802 | void CreateNmeaGGA(void) |
802 | { |
803 | { |
803 | u8 array[200], i = 0, crc = 0, x; |
804 | u8 array[200], i = 0, crc = 0, x; |
804 | s32 tmp1, tmp2; |
805 | s32 tmp1, tmp2; |
805 | 806 | ||
806 | i += sprintf(array, "$GPGGA,"); |
807 | i += sprintf(array, "$GPGGA,"); |
807 | // +++++++++++++++++++++++++++++++++++++++++++ |
808 | // +++++++++++++++++++++++++++++++++++++++++++ |
808 | if(SystemTime.Valid) |
809 | if(SystemTime.Valid) |
809 | { |
810 | { |
810 | i += sprintf(&array[i], "%02d%02d%02d.%02d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec/10); |
811 | i += sprintf(&array[i], "%02d%02d%02d.%02d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec/10); |
811 | } |
812 | } |
812 | else |
813 | else |
813 | { |
814 | { |
814 | i += sprintf(&array[i], ","); |
815 | i += sprintf(&array[i], ","); |
815 | } |
816 | } |
816 | // +++++++++++++++++++++++++++++++++++++++++++ |
817 | // +++++++++++++++++++++++++++++++++++++++++++ |
817 | if(GPSData.Flags & FLAG_GPSFIXOK) |
818 | if(GPSData.Flags & FLAG_GPSFIXOK) |
818 | { |
819 | { |
819 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
820 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
820 | i += sprintf(&array[i],"%02d",(s16)tmp1); |
821 | i += sprintf(&array[i],"%02d",(s16)tmp1); |
821 | 822 | ||
822 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
823 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
823 | tmp1 *= 6; // in Minuten |
824 | tmp1 *= 6; // in Minuten |
824 | tmp2 = tmp1 / 1000000L; |
825 | tmp2 = tmp1 / 1000000L; |
825 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
826 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
826 | tmp2 = tmp1 % 1000000L; |
827 | tmp2 = tmp1 % 1000000L; |
827 | tmp2 /= 100; // zwei Stellen zu viel |
828 | tmp2 /= 100; // zwei Stellen zu viel |
828 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
829 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
829 | 830 | ||
830 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
831 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
831 | else i += sprintf(&array[i],"S,"); |
832 | else i += sprintf(&array[i],"S,"); |
832 | // +++++++++++++++++++++++++++++++++++++++++++ |
833 | // +++++++++++++++++++++++++++++++++++++++++++ |
833 | 834 | ||
834 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
835 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
835 | i += sprintf(&array[i],"%03d", (u16)tmp1); |
836 | i += sprintf(&array[i],"%03d", (u16)tmp1); |
836 | 837 | ||
837 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
838 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
838 | tmp1 *= 6; // in Minuten |
839 | tmp1 *= 6; // in Minuten |
839 | tmp2 = tmp1 / 1000000L; |
840 | tmp2 = tmp1 / 1000000L; |
840 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
841 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
841 | tmp2 = tmp1 % 1000000L; |
842 | tmp2 = tmp1 % 1000000L; |
842 | tmp2 /= 100; // zwei Stellen zu viel |
843 | tmp2 /= 100; // zwei Stellen zu viel |
843 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
844 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
844 | 845 | ||
845 | 846 | ||
846 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
847 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
847 | else i += sprintf(&array[i],"W,"); |
848 | else i += sprintf(&array[i],"W,"); |
848 | i += sprintf(&array[i],"%d,",GPSData.SatFix); |
849 | i += sprintf(&array[i],"%d,",GPSData.SatFix); |
849 | i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
850 | i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
850 | i += sprintf(&array[i],"%d.%d,",(s16)(GPSData.Position_Accuracy/100),abs(GPSData.Position_Accuracy%100)); |
851 | i += sprintf(&array[i],"%d.%d,",(s16)(GPSData.Position_Accuracy/100),abs(GPSData.Position_Accuracy%100)); |
851 | // i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
852 | // i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
852 | tmp1 = NaviData.Altimeter / 2; // in dm |
853 | tmp1 = NaviData.Altimeter / 2; // in dm |
853 | i += sprintf(&array[i],"%d.%d,M,",(s16)tmp1 / 10,abs((s16)tmp1 % 10)); |
854 | i += sprintf(&array[i],"%d.%d,M,",(s16)tmp1 / 10,abs((s16)tmp1 % 10)); |
854 | i += sprintf(&array[i],",,,*"); |
855 | i += sprintf(&array[i],",,,*"); |
855 | } |
856 | } |
856 | else |
857 | else |
857 | { |
858 | { |
858 | i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats); |
859 | i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats); |
859 | } |
860 | } |
860 | for(x = 1; x < i-1; x++) |
861 | for(x = 1; x < i-1; x++) |
861 | { |
862 | { |
862 | crc ^= array[x]; |
863 | crc ^= array[x]; |
863 | } |
864 | } |
864 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
865 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
865 | AddSerialData(&UART1_tx_buffer,array,i); |
866 | AddSerialData(&UART1_tx_buffer,array,i); |
866 | 867 | ||
867 | // +++++++++++++++++++++++++++++++++++++++++++ |
868 | // +++++++++++++++++++++++++++++++++++++++++++ |
868 | } |
869 | } |
869 | 870 | ||
870 | //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
871 | //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
871 | //$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP |
872 | //$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP |
872 | 873 | ||
873 | void CreateNmeaRMC(void) |
874 | void CreateNmeaRMC(void) |
874 | { |
875 | { |
875 | u8 array[200], i = 0, crc = 0, x; |
876 | u8 array[200], i = 0, crc = 0, x; |
876 | s16 tmp_int; |
877 | s16 tmp_int; |
877 | s32 tmp1, tmp2; |
878 | s32 tmp1, tmp2; |
878 | // +++++++++++++++++++++++++++++++++++++++++++ |
879 | // +++++++++++++++++++++++++++++++++++++++++++ |
879 | i += sprintf(array, "$GPRMC,"); |
880 | i += sprintf(array, "$GPRMC,"); |
880 | // +++++++++++++++++++++++++++++++++++++++++++ |
881 | // +++++++++++++++++++++++++++++++++++++++++++ |
881 | if(SystemTime.Valid) |
882 | if(SystemTime.Valid) |
882 | { |
883 | { |
883 | i += sprintf(&array[i], "%02d%02d%02d.%03d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
884 | i += sprintf(&array[i], "%02d%02d%02d.%03d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
884 | } |
885 | } |
885 | else |
886 | else |
886 | { |
887 | { |
887 | i += sprintf(&array[i], ","); |
888 | i += sprintf(&array[i], ","); |
888 | } |
889 | } |
889 | if(GPSData.Flags & FLAG_GPSFIXOK) |
890 | if(GPSData.Flags & FLAG_GPSFIXOK) |
890 | { |
891 | { |
891 | // +++++++++++++++++++++++++++++++++++++++++++ |
892 | // +++++++++++++++++++++++++++++++++++++++++++ |
892 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
893 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
893 | i += sprintf(&array[i],"A,%02d", (s16)tmp1); // Status: A = Okay V = Warnung |
894 | i += sprintf(&array[i],"A,%02d", (s16)tmp1); // Status: A = Okay V = Warnung |
894 | 895 | ||
895 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
896 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
896 | tmp1 *= 6; // in Minuten |
897 | tmp1 *= 6; // in Minuten |
897 | tmp2 = tmp1 / 1000000L; |
898 | tmp2 = tmp1 / 1000000L; |
898 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
899 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
899 | tmp2 = tmp1 % 1000000L; |
900 | tmp2 = tmp1 % 1000000L; |
900 | tmp2 /= 100; // zwei Stellen zu viel |
901 | tmp2 /= 100; // zwei Stellen zu viel |
901 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
902 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
902 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
903 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
903 | else i += sprintf(&array[i],"S,"); |
904 | else i += sprintf(&array[i],"S,"); |
904 | // +++++++++++++++++++++++++++++++++++++++++++ |
905 | // +++++++++++++++++++++++++++++++++++++++++++ |
905 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
906 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
906 | i += sprintf(&array[i],"%03d", (s16)tmp1); |
907 | i += sprintf(&array[i],"%03d", (s16)tmp1); |
907 | 908 | ||
908 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
909 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
909 | tmp1 *= 6; // in Minuten |
910 | tmp1 *= 6; // in Minuten |
910 | tmp2 = tmp1 / 1000000L; |
911 | tmp2 = tmp1 / 1000000L; |
911 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
912 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
912 | tmp2 = tmp1 % 1000000L; |
913 | tmp2 = tmp1 % 1000000L; |
913 | tmp2 /= 100; // zwei Stellen zu viel |
914 | tmp2 /= 100; // zwei Stellen zu viel |
914 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
915 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
915 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
916 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
916 | else i += sprintf(&array[i],"W,"); |
917 | else i += sprintf(&array[i],"W,"); |
917 | // +++++++++++++++++++++++++++++++++++++++++++ |
918 | // +++++++++++++++++++++++++++++++++++++++++++ |
918 | tmp_int = GPSData.Speed_Ground; // in cm/sek |
919 | tmp_int = GPSData.Speed_Ground; // in cm/sek |
919 | tmp_int *= 90; |
920 | tmp_int *= 90; |
920 | tmp_int /= 463; |
921 | tmp_int /= 463; |
921 | i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten |
922 | i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten |
922 | // +++++++++++++++++++++++++++++++++++++++++++ |
923 | // +++++++++++++++++++++++++++++++++++++++++++ |
923 | i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10); |
924 | i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10); |
924 | // +++++++++++++++++++++++++++++++++++++++++++ |
925 | // +++++++++++++++++++++++++++++++++++++++++++ |
925 | if(SystemTime.Valid) |
926 | if(SystemTime.Valid) |
926 | { |
927 | { |
927 | i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year); |
928 | i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year); |
928 | } |
929 | } |
929 | else |
930 | else |
930 | { |
931 | { |
931 | i += sprintf(&array[i], ","); |
932 | i += sprintf(&array[i], ","); |
932 | } |
933 | } |
933 | // +++++++++++++++++++++++++++++++++++++++++++ |
934 | // +++++++++++++++++++++++++++++++++++++++++++ |
934 | i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
935 | i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
935 | if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,"); |
936 | if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,"); |
936 | // +++++++++++++++++++++++++++++++++++++++++++ |
937 | // +++++++++++++++++++++++++++++++++++++++++++ |
937 | if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D*"); |
938 | if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D*"); |
938 | else i += sprintf(&array[i], "A*"); |
939 | else i += sprintf(&array[i], "A*"); |
939 | } |
940 | } |
940 | else // kein Satfix |
941 | else // kein Satfix |
941 | { |
942 | { |
942 | i += sprintf(&array[i], "V,,,,,,,,,,N*"); |
943 | i += sprintf(&array[i], "V,,,,,,,,,,N*"); |
943 | } |
944 | } |
944 | // +++++++++++++++++++++++++++++++++++++++++++ |
945 | // +++++++++++++++++++++++++++++++++++++++++++ |
945 | // CRC |
946 | // CRC |
946 | // +++++++++++++++++++++++++++++++++++++++++++ |
947 | // +++++++++++++++++++++++++++++++++++++++++++ |
947 | for(x=1; x<i-1; x++) |
948 | for(x=1; x<i-1; x++) |
948 | { |
949 | { |
949 | crc ^= array[x]; |
950 | crc ^= array[x]; |
950 | } |
951 | } |
951 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
952 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
952 | // +++++++++++++++++++++++++++++++++++++++++++ |
953 | // +++++++++++++++++++++++++++++++++++++++++++ |
953 | AddSerialData(&UART1_tx_buffer,array,i); |
954 | AddSerialData(&UART1_tx_buffer,array,i); |
954 | // +++++++++++++++++++++++++++++++++++++++++++ |
955 | // +++++++++++++++++++++++++++++++++++++++++++ |
955 | /* |
956 | /* |
956 | 957 | ||
957 | 958 | ||
958 | 959 | ||
959 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
960 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
960 | GPSData.NumOfSats = UbxSol.numSV; |
961 | GPSData.NumOfSats = UbxSol.numSV; |
961 | GPSData.SatFix = UbxSol.GPSfix; |
962 | GPSData.SatFix = UbxSol.GPSfix; |
962 | GPSData.Position_Accuracy = UbxSol.PAcc; |
963 | GPSData.Position_Accuracy = UbxSol.PAcc; |
963 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
964 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
964 | SetGPSTime(&SystemTime); // update system time |
965 | SetGPSTime(&SystemTime); // update system time |
965 | // NAV POSLLH |
966 | // NAV POSLLH |
966 | GPSData.Position.Status = INVALID; |
967 | GPSData.Position.Status = INVALID; |
967 | GPSData.Position.Longitude = UbxPosLlh.LON; |
968 | GPSData.Position.Longitude = UbxPosLlh.LON; |
968 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
969 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
969 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
970 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
970 | GPSData.Position.Status = NEWDATA; |
971 | GPSData.Position.Status = NEWDATA; |
971 | // NAV VELNED |
972 | // NAV VELNED |
972 | GPSData.Speed_East = UbxVelNed.VEL_E; |
973 | GPSData.Speed_East = UbxVelNed.VEL_E; |
973 | GPSData.Speed_North = UbxVelNed.VEL_N; |
974 | GPSData.Speed_North = UbxVelNed.VEL_N; |
974 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
975 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
975 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
976 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
976 | GPSData.Heading = UbxVelNed.Heading; |
977 | GPSData.Heading = UbxVelNed.Heading; |
977 | SystemTime.Year = 0; |
978 | SystemTime.Year = 0; |
978 | SystemTime.Month = 0; |
979 | SystemTime.Month = 0; |
979 | SystemTime.Day = 0; |
980 | SystemTime.Day = 0; |
980 | SystemTime.Hour = 0; |
981 | SystemTime.Hour = 0; |
981 | SystemTime.Min = 0; |
982 | SystemTime.Min = 0; |
982 | SystemTime.Sec = 0; |
983 | SystemTime.Sec = 0; |
983 | SystemTime.mSec = 0; |
984 | SystemTime.mSec = 0; |
984 | SystemTime.Valid = 0; |
985 | SystemTime.Valid = 0; |
985 | 986 | ||
986 | FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2; |
987 | FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2; |
987 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
988 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
988 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
989 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
989 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
990 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
990 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
991 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
991 | 992 | ||
992 | 993 | ||
993 | 994 | ||
994 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
995 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
995 | i1 *= 100; |
996 | i1 *= 100; |
996 | i1 += i2 / 100000; |
997 | i1 += i2 / 100000; |
997 | i2 = i2 % 100000; |
998 | i2 = i2 % 100000; |
998 | i2 /= 10; |
999 | i2 /= 10; |
999 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
1000 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
1000 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
1001 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
1001 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
1002 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
1002 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
1003 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
1003 | break; |
1004 | break; |
1004 | case 1: |
1005 | case 1: |
1005 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
1006 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
1006 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
1007 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
1007 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
1008 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
1008 | //----------------------------- |
1009 | //----------------------------- |
1009 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
1010 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
1010 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
1011 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
1011 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
1012 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
1012 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
1013 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
1013 | 1014 | ||
1014 | */ |
1015 | */ |
1015 | } |
1016 | } |
1016 | 1017 | ||
1017 | u16 SendTriggerPos(void) |
1018 | u16 SendTriggerPos(void) |
1018 | { |
1019 | { |
1019 | u16 sent = 0; |
1020 | u16 sent = 0; |
1020 | NaviData_Out1Trigger.Index = 18; |
1021 | NaviData_Out1Trigger.Index = 18; |
1021 | sent = MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Out1Trigger, sizeof(NaviData_Out1Trigger)) + 1; |
1022 | sent = MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Out1Trigger, sizeof(NaviData_Out1Trigger)) + 1; |
1022 | Out1TriggerUpdateNewData = 0; |
1023 | Out1TriggerUpdateNewData = 0; |
1023 | // BeepTime = 50; // beep |
1024 | // BeepTime = 50; // beep |
1024 | return(sent); |
1025 | return(sent); |
1025 | } |
1026 | } |
1026 | 1027 | ||
1027 | 1028 | ||
1028 | u16 TransmitNavigationData(u16 MaxBytesPerSecond, u8 clear) // returns the minumum pause time in ms |
1029 | u16 TransmitNavigationData(u16 MaxBytesPerSecond, u8 clear) // returns the minumum pause time in ms |
1029 | { |
1030 | { |
1030 | static u8 state = 0, count_flags = 2, count_target = 3, count_home = 4, count_wp = 5 , count_tiny = 6, count_fs = 7; |
1031 | static u8 state = 0, count_flags = 2, count_target = 3, count_home = 4, count_wp = 5 , count_tiny = 6, count_fs = 7; |
1031 | static u16 CRC_Home = 0, CRC_Target = 0, CRC_Flags = 0, CRC_Wp = 0, CRC_Fs = 0; |
1032 | static u16 CRC_Home = 0, CRC_Target = 0, CRC_Flags = 0, CRC_Wp = 0, CRC_Fs = 0; |
1032 | u16 pause, sent = 0, crc_home, crc_target, crc_flags, crc_wp, crc_fs; |
1033 | u16 pause, sent = 0, crc_home, crc_target, crc_flags, crc_wp, crc_fs; |
1033 | 1034 | ||
1034 | if(clear) |
1035 | if(clear) |
1035 | { |
1036 | { |
1036 | state = 0; |
1037 | state = 0; |
1037 | CRC_Home++; |
1038 | CRC_Home++; |
1038 | CRC_Target++; |
1039 | CRC_Target++; |
1039 | CRC_Flags++; |
1040 | CRC_Flags++; |
1040 | CRC_Wp++; |
1041 | CRC_Wp++; |
1041 | CRC_Fs++; |
1042 | CRC_Fs++; |
1042 | if(ErrorCode) NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; |
1043 | if(ErrorCode) NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; |
1043 | else NaviData_Flags.SpeakHoTT = SPEAK_CONNECTED; |
1044 | else NaviData_Flags.SpeakHoTT = SPEAK_CONNECTED; |
1044 | NaviData_Flags_SpeakHoTT_Processed = 0; // don't overwrite in SPI.C |
1045 | NaviData_Flags_SpeakHoTT_Processed = 0; // don't overwrite in SPI.C |
1045 | return(1); |
1046 | return(1); |
1046 | } |
1047 | } |
1047 | while(!sent) |
1048 | while(!sent) |
1048 | { |
1049 | { |
1049 | // if(Out1TriggerUpdateNewData && MaxBytesPerSecond > 200) // (only if the data link can transmit more than 200Bytes per secons) -> it wouldn't fit into the data-flow if there are too few bytes available |
1050 | // if(Out1TriggerUpdateNewData && MaxBytesPerSecond > 200) // (only if the data link can transmit more than 200Bytes per secons) -> it wouldn't fit into the data-flow if there are too few bytes available |
1050 | // sent += SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
1051 | // sent += SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
1051 | 1052 | ||
1052 | switch(state++) |
1053 | switch(state++) |
1053 | { |
1054 | { |
1054 | case 0: |
1055 | case 0: |
1055 | case 6: |
1056 | case 6: |
1056 | case 5: |
1057 | case 5: |
1057 | // belegt 35 ASCII-Zeichen |
1058 | // belegt 35 ASCII-Zeichen |
1058 | NaviData_Flags.Index = 11; |
1059 | NaviData_Flags.Index = 11; |
1059 | NaviData_Flags.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1060 | NaviData_Flags.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1060 | NaviData_Flags.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1061 | NaviData_Flags.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1061 | NaviData_Flags.Altimeter = NaviData.Altimeter; |
1062 | NaviData_Flags.Altimeter = NaviData.Altimeter; |
1062 | NaviData_Flags.GroundSpeed = NaviData.GroundSpeed / 10; |
1063 | NaviData_Flags.GroundSpeed = NaviData.GroundSpeed / 10; |
1063 | NaviData_Flags.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1064 | NaviData_Flags.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1064 | NaviData_Flags.OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2); |
1065 | NaviData_Flags.OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2); |
1065 | NaviData_Flags.NCFlags = NaviData.NCFlags; |
1066 | NaviData_Flags.NCFlags = NaviData.NCFlags; |
1066 | NaviData_Flags.Errorcode = ErrorCode; |
1067 | NaviData_Flags.Errorcode = ErrorCode; |
1067 | NaviData_Flags.ReserveFlags = 0; |
1068 | NaviData_Flags.ReserveFlags = 0; |
1068 | //NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; -> in SPI.c |
1069 | //NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; -> in SPI.c |
1069 | NaviData_Flags.VarioCharacter = FromFC_VarioCharacter; |
1070 | NaviData_Flags.VarioCharacter = FromFC_VarioCharacter; |
1070 | NaviData_Flags.GPS_ModeCharacter = NC_GPS_ModeCharacter; |
1071 | NaviData_Flags.GPS_ModeCharacter = NC_GPS_ModeCharacter; |
1071 | NaviData_Flags.BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
1072 | NaviData_Flags.BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
1072 | crc_flags = CRC16((unsigned char*)(&NaviData_Flags.OSDStatusFlags2), sizeof(NaviData_Flags) - START_PAYLOAD_DATA); // update crc for the license structure |
1073 | crc_flags = CRC16((unsigned char*)(&NaviData_Flags.OSDStatusFlags2), sizeof(NaviData_Flags) - START_PAYLOAD_DATA); // update crc for the license structure |
1073 | if((crc_flags != CRC_Flags) || (--count_flags == 0)) |
1074 | if((crc_flags != CRC_Flags) || (--count_flags == 0)) |
1074 | { |
1075 | { |
1075 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Flags, sizeof(NaviData_Flags)) + 1; |
1076 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Flags, sizeof(NaviData_Flags)) + 1; |
1076 | CRC_Flags = crc_flags; |
1077 | CRC_Flags = crc_flags; |
1077 | count_flags = 11*2; |
1078 | count_flags = 11*2; |
1078 | } |
1079 | } |
1079 | NaviData_Flags_SpeakHoTT_Processed = 1; // allow update in SPI now |
1080 | NaviData_Flags_SpeakHoTT_Processed = 1; // allow update in SPI now |
1080 | break; |
1081 | break; |
1081 | case 1: |
1082 | case 1: |
1082 | case 7: |
1083 | case 7: |
1083 | // belegt 43 ASCII-Zeichen |
1084 | // belegt 43 ASCII-Zeichen |
1084 | NaviData_Target.Index = 12; |
1085 | NaviData_Target.Index = 12; |
1085 | NaviData_Target.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1086 | NaviData_Target.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1086 | NaviData_Target.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1087 | NaviData_Target.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1087 | NaviData_Target.Altimeter = NaviData.Altimeter; |
1088 | NaviData_Target.Altimeter = NaviData.Altimeter; |
1088 | NaviData_Target.GroundSpeed = NaviData.GroundSpeed / 10; |
1089 | NaviData_Target.GroundSpeed = NaviData.GroundSpeed / 10; |
1089 | NaviData_Target.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1090 | NaviData_Target.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1090 | NaviData_Target.TargetLongitude = NaviData.TargetPosition.Longitude; |
1091 | NaviData_Target.TargetLongitude = NaviData.TargetPosition.Longitude; |
1091 | NaviData_Target.TargetLatitude = NaviData.TargetPosition.Latitude; |
1092 | NaviData_Target.TargetLatitude = NaviData.TargetPosition.Latitude; |
1092 | NaviData_Target.TargetAltitude = NaviData.TargetPosition.Altitude; |
1093 | NaviData_Target.TargetAltitude = NaviData.TargetPosition.Altitude; |
1093 | NaviData_Target.RC_Quality = NaviData.RC_Quality; |
1094 | NaviData_Target.RC_Quality = NaviData.RC_Quality; |
1094 | crc_target = CRC16((unsigned char*)(&NaviData_Target.TargetLongitude), sizeof(NaviData_Target) - START_PAYLOAD_DATA); // update crc for the license structure |
1095 | crc_target = CRC16((unsigned char*)(&NaviData_Target.TargetLongitude), sizeof(NaviData_Target) - START_PAYLOAD_DATA); // update crc for the license structure |
1095 | if((crc_target != CRC_Target) || (--count_target == 0)) |
1096 | if((crc_target != CRC_Target) || (--count_target == 0)) |
1096 | { |
1097 | { |
1097 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Target, sizeof(NaviData_Target)) + 1; |
1098 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Target, sizeof(NaviData_Target)) + 1; |
1098 | CRC_Target = crc_target; |
1099 | CRC_Target = crc_target; |
1099 | count_target = 10*2; |
1100 | count_target = 10*2; |
1100 | } |
1101 | } |
1101 | break; |
1102 | break; |
1102 | case 2: |
1103 | case 2: |
1103 | case 8: |
1104 | case 8: |
1104 | // belegt 31 ASCII-Zeichen |
1105 | // belegt 31 ASCII-Zeichen |
1105 | NaviData_WP.Index = 15; |
1106 | NaviData_WP.Index = 15; |
1106 | NaviData_WP.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1107 | NaviData_WP.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1107 | NaviData_WP.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1108 | NaviData_WP.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1108 | NaviData_WP.Altimeter = NaviData.Altimeter; |
1109 | NaviData_WP.Altimeter = NaviData.Altimeter; |
1109 | NaviData_WP.GroundSpeed = NaviData.GroundSpeed / 10; |
1110 | NaviData_WP.GroundSpeed = NaviData.GroundSpeed / 10; |
1110 | NaviData_WP.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1111 | NaviData_WP.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1111 | NaviData_WP.WaypointIndex = NaviData.WaypointIndex; |
1112 | NaviData_WP.WaypointIndex = NaviData.WaypointIndex; |
1112 | NaviData_WP.WaypointNumber = NaviData.WaypointNumber; |
1113 | NaviData_WP.WaypointNumber = NaviData.WaypointNumber; |
1113 | NaviData_WP.TargetHoldTime = NaviData.TargetHoldTime; |
1114 | NaviData_WP.TargetHoldTime = NaviData.TargetHoldTime; |
1114 | // NaviData_WP.WP_Eventchannel = FC_WP_EventChannel; -> happends already in SPI.c |
1115 | // NaviData_WP.WP_Eventchannel = FC_WP_EventChannel; -> happends already in SPI.c |
1115 | crc_wp = CRC16((unsigned char*)(&NaviData_WP.WaypointIndex), sizeof(NaviData_WP) - START_PAYLOAD_DATA); // update crc for the license structure |
1116 | crc_wp = CRC16((unsigned char*)(&NaviData_WP.WaypointIndex), sizeof(NaviData_WP) - START_PAYLOAD_DATA); // update crc for the license structure |
1116 | if((crc_wp != CRC_Wp) || (--count_wp == 0)) |
1117 | if((crc_wp != CRC_Wp) || (--count_wp == 0)) |
1117 | { |
1118 | { |
1118 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_WP, sizeof(NaviData_WP)) + 1; |
1119 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_WP, sizeof(NaviData_WP)) + 1; |
1119 | CRC_Wp = crc_wp; |
1120 | CRC_Wp = crc_wp; |
1120 | count_wp = 12*2; |
1121 | count_wp = 12*2; |
1121 | } |
1122 | } |
1122 | break; |
1123 | break; |
1123 | case 3: |
1124 | case 3: |
1124 | case 9: |
1125 | case 9: |
1125 | // 35 ASCII-Zeichen |
1126 | // 35 ASCII-Zeichen |
1126 | NaviData_Failsafe.Index = 17; |
1127 | NaviData_Failsafe.Index = 17; |
1127 | NaviData_Failsafe.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1128 | NaviData_Failsafe.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1128 | NaviData_Failsafe.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1129 | NaviData_Failsafe.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1129 | NaviData_Failsafe.Altimeter = NaviData.Altimeter; |
1130 | NaviData_Failsafe.Altimeter = NaviData.Altimeter; |
1130 | NaviData_Failsafe.GroundSpeed = NaviData.GroundSpeed / 10; |
1131 | NaviData_Failsafe.GroundSpeed = NaviData.GroundSpeed / 10; |
1131 | NaviData_Failsafe.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1132 | NaviData_Failsafe.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1132 | NaviData_Failsafe.Longitude = GPS_FailsafePosition.Longitude; |
1133 | NaviData_Failsafe.Longitude = GPS_FailsafePosition.Longitude; |
1133 | NaviData_Failsafe.Latitude = GPS_FailsafePosition.Latitude; |
1134 | NaviData_Failsafe.Latitude = GPS_FailsafePosition.Latitude; |
1134 | crc_fs = CRC16((unsigned char*)(&NaviData_Failsafe.Longitude), sizeof(NaviData_Pos_t) - START_PAYLOAD_DATA); // update crc for the license structure |
1135 | crc_fs = CRC16((unsigned char*)(&NaviData_Failsafe.Longitude), sizeof(NaviData_Pos_t) - START_PAYLOAD_DATA); // update crc for the license structure |
1135 | if((crc_fs != CRC_Fs) || (--count_fs == 0)) |
1136 | if((crc_fs != CRC_Fs) || (--count_fs == 0)) |
1136 | { |
1137 | { |
1137 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Failsafe, sizeof(NaviData_Failsafe)) + 1; |
1138 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Failsafe, sizeof(NaviData_Failsafe)) + 1; |
1138 | CRC_Fs = crc_fs; |
1139 | CRC_Fs = crc_fs; |
1139 | count_fs = 20*2; |
1140 | count_fs = 20*2; |
1140 | } |
1141 | } |
1141 | break; |
1142 | break; |
1142 | case 4: |
1143 | case 4: |
1143 | case 10: |
1144 | case 10: |
1144 | // belegt 43 ASCII-Zeichen |
1145 | // belegt 43 ASCII-Zeichen |
1145 | NaviData_Home.Index = 13; |
1146 | NaviData_Home.Index = 13; |
1146 | NaviData_Home.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1147 | NaviData_Home.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1147 | NaviData_Home.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1148 | NaviData_Home.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1148 | NaviData_Home.Altimeter = NaviData.Altimeter; |
1149 | NaviData_Home.Altimeter = NaviData.Altimeter; |
1149 | NaviData_Home.GroundSpeed = NaviData.GroundSpeed / 10; |
1150 | NaviData_Home.GroundSpeed = NaviData.GroundSpeed / 10; |
1150 | NaviData_Home.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1151 | NaviData_Home.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1151 | NaviData_Home.HomeLongitude = NaviData.HomePosition.Longitude; |
1152 | NaviData_Home.HomeLongitude = NaviData.HomePosition.Longitude; |
1152 | NaviData_Home.HomeLatitude = NaviData.HomePosition.Latitude; |
1153 | NaviData_Home.HomeLatitude = NaviData.HomePosition.Latitude; |
1153 | NaviData_Home.HomeAltitude = NaviData.HomePosition.Altitude; |
1154 | NaviData_Home.HomeAltitude = NaviData.HomePosition.Altitude; |
1154 | NaviData_Home.WP_OperatingRadius = MaxWP_Radius_in_m; |
1155 | NaviData_Home.WP_OperatingRadius = MaxWP_Radius_in_m; |
1155 | crc_home = CRC16((unsigned char*)(&NaviData_Home.HomeLongitude), sizeof(NaviData_Home_t) - START_PAYLOAD_DATA); // update crc for the license structure |
1156 | crc_home = CRC16((unsigned char*)(&NaviData_Home.HomeLongitude), sizeof(NaviData_Home_t) - START_PAYLOAD_DATA); // update crc for the license structure |
1156 | if((crc_home != CRC_Home) || (--count_home == 0)) |
1157 | if((crc_home != CRC_Home) || (--count_home == 0)) |
1157 | { |
1158 | { |
1158 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Home, sizeof(NaviData_Home)) + 1; |
1159 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Home, sizeof(NaviData_Home)) + 1; |
1159 | CRC_Home = crc_home; |
1160 | CRC_Home = crc_home; |
1160 | count_home = 25; |
1161 | count_home = 25; |
1161 | } |
1162 | } |
1162 | break; |
1163 | break; |
1163 | case 11: |
1164 | case 11: |
1164 | // belegt 39 ASCII-Zeichen |
1165 | // belegt 39 ASCII-Zeichen |
1165 | NaviData_Deviation.Index = 14; |
1166 | NaviData_Deviation.Index = 14; |
1166 | NaviData_Deviation.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1167 | NaviData_Deviation.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1167 | NaviData_Deviation.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1168 | NaviData_Deviation.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1168 | NaviData_Deviation.Altimeter = NaviData.Altimeter; |
1169 | NaviData_Deviation.Altimeter = NaviData.Altimeter; |
1169 | NaviData_Deviation.GroundSpeed = NaviData.GroundSpeed / 10; |
1170 | NaviData_Deviation.GroundSpeed = NaviData.GroundSpeed / 10; |
1170 | NaviData_Deviation.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1171 | NaviData_Deviation.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1171 | NaviData_Deviation.FlyingTime = NaviData.FlyingTime; |
1172 | NaviData_Deviation.FlyingTime = NaviData.FlyingTime; |
1172 | NaviData_Deviation.DistanceToHome = NaviData.HomePositionDeviation.Distance; |
1173 | NaviData_Deviation.DistanceToHome = NaviData.HomePositionDeviation.Distance; |
1173 | NaviData_Deviation.HeadingToHome = NaviData.HomePositionDeviation.Bearing/2; |
1174 | NaviData_Deviation.HeadingToHome = NaviData.HomePositionDeviation.Bearing/2; |
1174 | NaviData_Deviation.DistanceToTarget = NaviData.TargetPositionDeviation.Distance; |
1175 | NaviData_Deviation.DistanceToTarget = NaviData.TargetPositionDeviation.Distance; |
1175 | NaviData_Deviation.HeadingToTarget = NaviData.TargetPositionDeviation.Bearing/2; |
1176 | NaviData_Deviation.HeadingToTarget = NaviData.TargetPositionDeviation.Bearing/2; |
1176 | NaviData_Deviation.AngleNick = NaviData.AngleNick; |
1177 | NaviData_Deviation.AngleNick = NaviData.AngleNick; |
1177 | NaviData_Deviation.AngleRoll = NaviData.AngleRoll; |
1178 | NaviData_Deviation.AngleRoll = NaviData.AngleRoll; |
1178 | NaviData_Deviation.SatsInUse = NaviData.SatsInUse; |
1179 | NaviData_Deviation.SatsInUse = NaviData.SatsInUse; |
1179 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Deviation, sizeof(NaviData_Deviation)) + 1; |
1180 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Deviation, sizeof(NaviData_Deviation)) + 1; |
1180 | break; |
1181 | break; |
1181 | case 12: |
1182 | case 12: |
1182 | // belegt 43 ASCII-Zeichen |
1183 | // belegt 43 ASCII-Zeichen |
1183 | NaviData_Volatile.Index = 16; |
1184 | NaviData_Volatile.Index = 16; |
1184 | NaviData_Volatile.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1185 | NaviData_Volatile.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1185 | NaviData_Volatile.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1186 | NaviData_Volatile.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1186 | NaviData_Volatile.Altimeter = NaviData.Altimeter; |
1187 | NaviData_Volatile.Altimeter = NaviData.Altimeter; |
1187 | NaviData_Volatile.GroundSpeed = NaviData.GroundSpeed / 10; |
1188 | NaviData_Volatile.GroundSpeed = NaviData.GroundSpeed / 10; |
1188 | NaviData_Volatile.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1189 | NaviData_Volatile.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1189 | NaviData_Volatile.UBat = FC.BAT_Voltage; |
1190 | NaviData_Volatile.UBat = FC.BAT_Voltage; |
1190 | NaviData_Volatile.Current = NaviData.Current; |
1191 | NaviData_Volatile.Current = NaviData.Current; |
1191 | NaviData_Volatile.UsedCapacity = NaviData.UsedCapacity; |
1192 | NaviData_Volatile.UsedCapacity = NaviData.UsedCapacity; |
1192 | NaviData_Volatile.Variometer = NaviData.Variometer; |
1193 | NaviData_Volatile.Variometer = NaviData.Variometer; |
1193 | NaviData_Volatile.Heading = NaviData.Heading / 2; |
1194 | NaviData_Volatile.Heading = NaviData.Heading / 2; |
1194 | NaviData_Volatile.CompassHeading = NaviData.CompassHeading / 2; |
1195 | NaviData_Volatile.CompassHeading = NaviData.CompassHeading / 2; |
1195 | NaviData_Volatile.Gas = NaviData.Gas; |
1196 | NaviData_Volatile.Gas = NaviData.Gas; |
1196 | NaviData_Volatile.SetpointAltitude = NaviData.SetpointAltitude; |
1197 | NaviData_Volatile.SetpointAltitude = NaviData.SetpointAltitude; |
1197 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Volatile, sizeof(NaviData_Volatile)) + 1; |
1198 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Volatile, sizeof(NaviData_Volatile)) + 1; |
1198 | break; |
1199 | break; |
1199 | case 13: |
1200 | case 13: |
1200 | // belegt 27 ASCII-Zeichen |
1201 | // belegt 27 ASCII-Zeichen |
1201 | NaviData_Tiny.Index = 10; |
1202 | NaviData_Tiny.Index = 10; |
1202 | NaviData_Tiny.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1203 | NaviData_Tiny.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1203 | NaviData_Tiny.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1204 | NaviData_Tiny.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1204 | NaviData_Tiny.Altimeter = NaviData.Altimeter; |
1205 | NaviData_Tiny.Altimeter = NaviData.Altimeter; |
1205 | NaviData_Tiny.GroundSpeed = NaviData.GroundSpeed / 10; |
1206 | NaviData_Tiny.GroundSpeed = NaviData.GroundSpeed / 10; |
1206 | NaviData_Tiny.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1207 | NaviData_Tiny.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1207 | if(--count_tiny == 0) |
1208 | if(--count_tiny == 0) |
1208 | { |
1209 | { |
1209 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Tiny, sizeof(NaviData_Tiny)) + 1; |
1210 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Tiny, sizeof(NaviData_Tiny)) + 1; |
1210 | count_tiny = 200; // just to make sure that it comes sometimes |
1211 | count_tiny = 200; // just to make sure that it comes sometimes |
1211 | } |
1212 | } |
1212 | break; |
1213 | break; |
1213 | default: state = 0; |
1214 | default: state = 0; |
1214 | break; |
1215 | break; |
1215 | } |
1216 | } |
1216 | } |
1217 | } |
1217 | pause = (sent * 1000) / MaxBytesPerSecond; |
1218 | pause = (sent * 1000) / MaxBytesPerSecond; |
1218 | 1219 | ||
1219 | UART1_Request_NaviData = FALSE; |
1220 | UART1_Request_NaviData = FALSE; |
1220 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
1221 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
1221 | return(pause); |
1222 | return(pause); |
1222 | // Clear at timeout: |
1223 | // Clear at timeout: |
1223 | // NaviData_WP.WP_Eventchannel |
1224 | // NaviData_WP.WP_Eventchannel |
1224 | } |
1225 | } |
1225 | 1226 | ||
1226 | /**************************************************************/ |
1227 | /**************************************************************/ |
1227 | /* Send the answers to incomming commands at the debug uart */ |
1228 | /* Send the answers to incomming commands at the debug uart */ |
1228 | /**************************************************************/ |
1229 | /**************************************************************/ |
1229 | void UART1_TransmitTxData(void) |
1230 | void UART1_TransmitTxData(void) |
1230 | { |
1231 | { |
1231 | static u8 motorindex1 = 255, motorindex2 = 0; |
1232 | static u8 motorindex1 = 255, motorindex2 = 0; |
1232 | if(DebugUART != UART1) return; |
1233 | if(DebugUART != UART1) return; |
1233 | 1234 | ||
1234 | if(CheckDelay(UART1_AboTimeOut)) |
1235 | if(CheckDelay(UART1_AboTimeOut)) |
1235 | { |
1236 | { |
1236 | UART1_DebugData_Interval = 0; |
1237 | UART1_DebugData_Interval = 0; |
1237 | UART1_NaviData_Interval = 0; |
1238 | UART1_NaviData_Interval = 0; |
1238 | UART1_NaviData_MaxBytes = 0; |
1239 | UART1_NaviData_MaxBytes = 0; |
1239 | UART1_Data3D_Interval = 0; |
1240 | UART1_Data3D_Interval = 0; |
1240 | UART1_Display_Interval = 0; |
1241 | UART1_Display_Interval = 0; |
1241 | UART1_MotorData_Interval = 0; |
1242 | UART1_MotorData_Interval = 0; |
1242 | UART1_NaviData_Timer = SetDelay(500); |
1243 | UART1_NaviData_Timer = SetDelay(500); |
1243 | UART1_AboTimeOut = SetDelay(100); |
1244 | UART1_AboTimeOut = SetDelay(100); |
1244 | TransmitNavigationData(0,1); // clear the CRC values |
1245 | TransmitNavigationData(0,1); // clear the CRC values |
1245 | } |
1246 | } |
1246 | //if(UART1_NaviData_MaxBytes > 150) UART1_NaviData_MaxBytes = 150; |
1247 | //if(UART1_NaviData_MaxBytes > 150) UART1_NaviData_MaxBytes = 150; |
1247 | //UART1_NaviData_MaxBytes = 150; |
1248 | //UART1_NaviData_MaxBytes = 150; |
1248 | /* |
1249 | /* |
1249 | #define CHK_MIN_INTERVAL(a,b) {if(a && a < b) a = b;} |
1250 | #define CHK_MIN_INTERVAL(a,b) {if(a && a < b) a = b;} |
1250 | UART1_NaviData_Interval = 500; |
1251 | UART1_NaviData_Interval = 500; |
1251 | CHK_MIN_INTERVAL(UART1_DebugData_Interval,500); |
1252 | CHK_MIN_INTERVAL(UART1_DebugData_Interval,500); |
1252 | CHK_MIN_INTERVAL(UART1_NaviData_Interval,1000); |
1253 | CHK_MIN_INTERVAL(UART1_NaviData_Interval,1000); |
1253 | CHK_MIN_INTERVAL(UART1_Data3D_Interval,255); |
1254 | CHK_MIN_INTERVAL(UART1_Data3D_Interval,255); |
1254 | CHK_MIN_INTERVAL(UART1_Display_Interval,1500); |
1255 | CHK_MIN_INTERVAL(UART1_Display_Interval,1500); |
1255 | CHK_MIN_INTERVAL(UART1_MotorData_Interval,750); |
1256 | CHK_MIN_INTERVAL(UART1_MotorData_Interval,750); |
1256 | */ |
1257 | */ |
1257 | UART1_Transmit(); // output pending bytes in tx buffer |
1258 | UART1_Transmit(); // output pending bytes in tx buffer |
1258 | if((UART1_tx_buffer.Locked == TRUE)) return; |
1259 | if((UART1_tx_buffer.Locked == TRUE)) return; |
1259 | 1260 | ||
1260 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
1261 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
1261 | { |
1262 | { |
1262 | s16 ParamValue; |
1263 | s16 ParamValue; |
1263 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
1264 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
1264 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
1265 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
1265 | UART1_Request_Parameter = FALSE; |
1266 | UART1_Request_Parameter = FALSE; |
1266 | } |
1267 | } |
1267 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
1268 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
1268 | { |
1269 | { |
1269 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
1270 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
1270 | Echo = 0; // reset echo value |
1271 | Echo = 0; // reset echo value |
1271 | UART1_Request_Echo = FALSE; |
1272 | UART1_Request_Echo = FALSE; |
1272 | } |
1273 | } |
1273 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
1274 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
1274 | { |
1275 | { |
1275 | u8 errorcode = FTP_ERROR_NONE; |
1276 | u8 errorcode = FTP_ERROR_NONE; |
1276 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
1277 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
1277 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
1278 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
1278 | 1279 | ||
1279 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
1280 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
1280 | else |
1281 | else |
1281 | { |
1282 | { |
1282 | u8 cmd = FTP_CMD_ERROR; |
1283 | u8 cmd = FTP_CMD_ERROR; |
1283 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
1284 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
1284 | } |
1285 | } |
1285 | 1286 | ||
1286 | UART1_Request_FTP = FALSE; |
1287 | UART1_Request_FTP = FALSE; |
1287 | } |
1288 | } |
1288 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
1289 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
1289 | { |
1290 | { |
1290 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
1291 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
1291 | UART1_Request_WritePoint = 0xFF; |
1292 | UART1_Request_WritePoint = 0xFF; |
1292 | } |
1293 | } |
1293 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
1294 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
1294 | { |
1295 | { |
1295 | u8 PointCount = PointList_GetCount(); |
1296 | u8 PointCount = PointList_GetCount(); |
1296 | if (UART1_Request_ReadPoint <= PointCount) |
1297 | if (UART1_Request_ReadPoint <= PointCount) |
1297 | { |
1298 | { |
1298 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
1299 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
1299 | } |
1300 | } |
1300 | else |
1301 | else |
1301 | { |
1302 | { |
1302 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
1303 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
1303 | } |
1304 | } |
1304 | UART1_Request_ReadPoint = 0; |
1305 | UART1_Request_ReadPoint = 0; |
1305 | } |
1306 | } |
1306 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
1307 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
1307 | { |
1308 | { |
1308 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
1309 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
1309 | UART1_Request_DebugLabel = 0xFF; |
1310 | UART1_Request_DebugLabel = 0xFF; |
1310 | } |
1311 | } |
1311 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1312 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1312 | { |
1313 | { |
1313 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
1314 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
1314 | UART1_ExternalControlConfirmFrame = 0; |
1315 | UART1_ExternalControlConfirmFrame = 0; |
1315 | } |
1316 | } |
1316 | else |
1317 | else |
1317 | if((UART1_NaviData_Interval > 0) && Out1TriggerUpdateNewData && UART1_NaviData_MaxBytes > 200) // (only if the data link can transmit more than 200Bytes per secons) -> it wouldn't fit into the data-flow if there are too few bytes available |
1318 | if((UART1_NaviData_Interval > 0) && Out1TriggerUpdateNewData && UART1_NaviData_MaxBytes > 200) // (only if the data link can transmit more than 200Bytes per secons) -> it wouldn't fit into the data-flow if there are too few bytes available |
1318 | { |
1319 | { |
1319 | //sent += |
1320 | //sent += |
1320 | SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
1321 | SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
1321 | } |
1322 | } |
1322 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
1323 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
1323 | { |
1324 | { |
1324 | u16 time = 0; |
1325 | u16 time = 0; |
1325 | //UART1_NaviData_MaxBytes = 250; |
1326 | //UART1_NaviData_MaxBytes = 250; |
1326 | if(UART1_NaviData_MaxBytes == 0) // Transmit the big NC Data frame |
1327 | if(UART1_NaviData_MaxBytes == 0) // Transmit the big NC Data frame |
1327 | { |
1328 | { |
1328 | NaviData.Errorcode = ErrorCode; |
1329 | NaviData.Errorcode = ErrorCode; |
1329 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
1330 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
1330 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
1331 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
1331 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
1332 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
1332 | } |
1333 | } |
1333 | else |
1334 | else |
1334 | if(CheckDelay(UART1_NaviData_Timer)) |
1335 | if(CheckDelay(UART1_NaviData_Timer)) |
1335 | { |
1336 | { |
1336 | // Wert = 50 -> Sekunden laufen in 2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 3-4s) |
1337 | // Wert = 50 -> Sekunden laufen in 2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 3-4s) |
1337 | // Wert = 100 -> Sekunden laufen in 1-2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 2s) |
1338 | // Wert = 100 -> Sekunden laufen in 1-2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 2s) |
1338 | // Wert = 150 -> Sekunden laufen flüssig (im Wegpunkteflug mit aktivem Countdown und gleichzeitig Target verschieben manchmal in 2s) |
1339 | // Wert = 150 -> Sekunden laufen flüssig (im Wegpunkteflug mit aktivem Countdown und gleichzeitig Target verschieben manchmal in 2s) |
1339 | // Wert = 200 -> Sekunden laufen flüssig |
1340 | // Wert = 200 -> Sekunden laufen flüssig |
1340 | // Wert >= 250 -> optimal |
1341 | // Wert >= 250 -> optimal |
1341 | //UART1_NaviData_MaxBytes = 45; |
1342 | //UART1_NaviData_MaxBytes = 45; |
1342 | time = TransmitNavigationData(UART1_NaviData_MaxBytes,0); |
1343 | time = TransmitNavigationData(UART1_NaviData_MaxBytes,0); |
1343 | if(UART1_NaviData_Interval > time) time = UART1_NaviData_Interval; |
1344 | if(UART1_NaviData_Interval > time) time = UART1_NaviData_Interval; |
1344 | UART1_NaviData_Timer = SetDelay(time); |
1345 | UART1_NaviData_Timer = SetDelay(time); |
1345 | } |
1346 | } |
1346 | UART1_Request_NaviData = FALSE; |
1347 | UART1_Request_NaviData = FALSE; |
1347 | } |
1348 | } |
1348 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
1349 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
1349 | { |
1350 | { |
1350 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
1351 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
1351 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
1352 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
1352 | UART1_Request_DebugData = FALSE; |
1353 | UART1_Request_DebugData = FALSE; |
1353 | } |
1354 | } |
1354 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
1355 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
1355 | { |
1356 | { |
1356 | Data3D.StickNick = FC.StickNick; |
1357 | Data3D.StickNick = FC.StickNick; |
1357 | Data3D.StickRoll = FC.StickRoll; |
1358 | Data3D.StickRoll = FC.StickRoll; |
1358 | Data3D.StickYaw = FC.StickYaw; |
1359 | Data3D.StickYaw = FC.StickYaw; |
1359 | Data3D.StickGas = FC.StickGas; |
1360 | Data3D.StickGas = FC.StickGas; |
1360 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
1361 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
1361 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
1362 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
1362 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
1363 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
1363 | Data3D.Altimeter = FC.Altimeter; // in 5cm -> 20 = 1m |
1364 | Data3D.Altimeter = FC.Altimeter; // in 5cm -> 20 = 1m |
1364 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
1365 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
1365 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
1366 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
1366 | UART1_Request_Data3D = FALSE; |
1367 | UART1_Request_Data3D = FALSE; |
1367 | } |
1368 | } |
1368 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
1369 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
1369 | { |
1370 | { |
1370 | do |
1371 | do |
1371 | { |
1372 | { |
1372 | motorindex1++; |
1373 | motorindex1++; |
1373 | motorindex1%=12; |
1374 | motorindex1%=12; |
1374 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
1375 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
1375 | if(motorindex1 == motorindex2) break; |
1376 | if(motorindex1 == motorindex2) break; |
1376 | } |
1377 | } |
1377 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
1378 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
1378 | 1379 | ||
1379 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
1380 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
1380 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
1381 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
1381 | UART1_Request_MotorData = FALSE; |
1382 | UART1_Request_MotorData = FALSE; |
1382 | } |
1383 | } |
1383 | else if(UART1_Request_WPLStore) |
1384 | else if(UART1_Request_WPLStore) |
1384 | { |
1385 | { |
1385 | /* |
1386 | /* |
1386 | s8 txt[50]; |
1387 | s8 txt[50]; |
1387 | 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); |
1388 | 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); |
1388 | UART1_PutString(txt); |
1389 | UART1_PutString(txt); |
1389 | */ |
1390 | */ |
1390 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'I', NC_ADDRESS, 1,(u8 *)&(WPL_Answer), sizeof(WPL_Answer_t)); |
1391 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'I', NC_ADDRESS, 1,(u8 *)&(WPL_Answer), sizeof(WPL_Answer_t)); |
1391 | UART1_Request_WPLStore = FALSE; |
1392 | UART1_Request_WPLStore = FALSE; |
1392 | } |
1393 | } |
1393 | else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE)) |
1394 | else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE)) |
1394 | { |
1395 | { |
1395 | CreateNmeaGGA(); |
1396 | CreateNmeaGGA(); |
1396 | Send_NMEA_RMC = TRUE; // das muss noch da hinter |
1397 | Send_NMEA_RMC = TRUE; // das muss noch da hinter |
1397 | NMEA_Timer = SetDelay(NMEA_Interval); |
1398 | NMEA_Timer = SetDelay(NMEA_Interval); |
1398 | } |
1399 | } |
1399 | else if(Send_NMEA_RMC == TRUE && (UART1_tx_buffer.Locked == FALSE)) |
1400 | else if(Send_NMEA_RMC == TRUE && (UART1_tx_buffer.Locked == FALSE)) |
1400 | { |
1401 | { |
1401 | CreateNmeaRMC(); |
1402 | CreateNmeaRMC(); |
1402 | Send_NMEA_RMC = FALSE; |
1403 | Send_NMEA_RMC = FALSE; |
1403 | } |
1404 | } |
1404 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1405 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1405 | { |
1406 | { |
1406 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
1407 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
1407 | UART1_ConfirmFrame = 0; |
1408 | UART1_ConfirmFrame = 0; |
1408 | } |
1409 | } |
1409 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
1410 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
1410 | { |
1411 | { |
1411 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
1412 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
1412 | UART1_Request_ExternalControl = FALSE; |
1413 | UART1_Request_ExternalControl = FALSE; |
1413 | } |
1414 | } |
1414 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
1415 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
1415 | { |
1416 | { |
1416 | if(UART1_DisplayLine > 3) |
1417 | if(UART1_DisplayLine > 3) |
1417 | { |
1418 | { |
1418 | Menu_Update(UART1_DisplayKeys); |
1419 | Menu_Update(UART1_DisplayKeys); |
1419 | UART1_DisplayKeys = 0; |
1420 | UART1_DisplayKeys = 0; |
1420 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
1421 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
1421 | } |
1422 | } |
1422 | else |
1423 | else |
1423 | { |
1424 | { |
1424 | UART1_DisplayLine = 2; |
1425 | UART1_DisplayLine = 2; |
1425 | sprintf(text,"!!! incompatible !!!"); |
1426 | sprintf(text,"!!! incompatible !!!"); |
1426 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
1427 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
1427 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
1428 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
1428 | } |
1429 | } |
1429 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
1430 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
1430 | UART1_Request_Display = FALSE; |
1431 | UART1_Request_Display = FALSE; |
1431 | } |
1432 | } |
1432 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
1433 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
1433 | { |
1434 | { |
1434 | Menu_Update(0); |
1435 | Menu_Update(0); |
1435 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
1436 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
1436 | UART1_Request_Display1 = FALSE; |
1437 | UART1_Request_Display1 = FALSE; |
1437 | } |
1438 | } |
1438 | else if(UART1_Request_VersionInfo == 1 && (UART1_tx_buffer.Locked == FALSE)) // get FC-Versions |
1439 | else if(UART1_Request_VersionInfo == 1 && (UART1_tx_buffer.Locked == FALSE)) // get FC-Versions |
1439 | { |
1440 | { |
1440 | UART_VersionInfo_t version_tmp; |
1441 | UART_VersionInfo_t version_tmp; |
1441 | version_tmp.SWMajor = FC_Version.Major; |
1442 | version_tmp.SWMajor = FC_Version.Major; |
1442 | version_tmp.SWMinor = FC_Version.Minor; |
1443 | version_tmp.SWMinor = FC_Version.Minor; |
1443 | version_tmp.SWPatch = FC_Version.Patch; |
1444 | version_tmp.SWPatch = FC_Version.Patch; |
1444 | version_tmp.HWMajor = FC_Version.Hardware; |
1445 | version_tmp.HWMajor = FC_Version.Hardware; |
1445 | version_tmp.HardwareError[0] = 0xff; // tells the KopterTool that it is the FC-version |
1446 | version_tmp.HardwareError[0] = 0xff; // tells the KopterTool that it is the FC-version |
1446 | version_tmp.HardwareError[1] = 0xff; // tells the KopterTool that it is the FC-version |
1447 | version_tmp.HardwareError[1] = 0xff; // tells the KopterTool that it is the FC-version |
1447 | version_tmp.ProtoMajor = UART_VersionInfo.ProtoMajor; |
1448 | version_tmp.ProtoMajor = UART_VersionInfo.ProtoMajor; |
1448 | version_tmp.BL_Firmware = UART_VersionInfo.BL_Firmware; |
1449 | version_tmp.BL_Firmware = UART_VersionInfo.BL_Firmware; |
1449 | version_tmp.Flags = 0; |
1450 | version_tmp.Flags = 0; |
1450 | version_tmp.LabelTextCRC = 0;//UART_VersionInfo.DebugTextCRC; |
1451 | version_tmp.LabelTextCRC = 0;//UART_VersionInfo.DebugTextCRC; |
1451 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&version_tmp, sizeof(version_tmp)); |
1452 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&version_tmp, sizeof(version_tmp)); |
1452 | UART1_Request_VersionInfo = FALSE; |
1453 | UART1_Request_VersionInfo = FALSE; |
1453 | } |
1454 | } |
1454 | else if(UART1_Request_VersionInfo == 2 && (UART1_tx_buffer.Locked == FALSE)) // get NC-Versions |
1455 | else if(UART1_Request_VersionInfo == 2 && (UART1_tx_buffer.Locked == FALSE)) // get NC-Versions |
1455 | { |
1456 | { |
1456 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
1457 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
1457 | UART1_Request_VersionInfo = FALSE; |
1458 | UART1_Request_VersionInfo = FALSE; |
1458 | } |
1459 | } |
1459 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
1460 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
1460 | { |
1461 | { |
1461 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
1462 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
1462 | UART1_Request_SystemTime = FALSE; |
1463 | UART1_Request_SystemTime = FALSE; |
1463 | } |
1464 | } |
1464 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
1465 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
1465 | { |
1466 | { |
1466 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
1467 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
1467 | UART1_Request_ErrorMessage = FALSE; |
1468 | UART1_Request_ErrorMessage = FALSE; |
1468 | } |
1469 | } |
1469 | else if(UART1_Request_PPM_Channels && (UART1_tx_buffer.Locked == FALSE)) |
1470 | else if(UART1_Request_PPM_Channels && (UART1_tx_buffer.Locked == FALSE)) |
1470 | { |
1471 | { |
- | 1472 | s16 ppm_tmp[MAX_RC_IN], i; |
|
- | 1473 | for(i=0; i<MAX_RC_IN;i++) ppm_tmp[i] = PPM_In[i]; // because the serial Data expects s16 |
|
1471 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'P', NC_ADDRESS, 1, (u8 *)&PPM_In, sizeof(PPM_In)); |
1474 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'P', NC_ADDRESS, 1, (u8 *)&ppm_tmp, sizeof(ppm_tmp)); |
1472 | UART1_Request_PPM_Channels = FALSE; |
1475 | UART1_Request_PPM_Channels = FALSE; |
1473 | } |
1476 | } |
1474 | else if(UART1_Request_LicenseString && (UART1_tx_buffer.Locked == FALSE)) |
1477 | else if(UART1_Request_LicenseString && (UART1_tx_buffer.Locked == FALSE)) |
1475 | { |
1478 | { |
1476 | u8 result = 1, cmd = 0; |
1479 | u8 result = 1, cmd = 0; |
1477 | if(UART1_Request_LicenseString == LIC_CMD_READ_LICENSE) |
1480 | if(UART1_Request_LicenseString == LIC_CMD_READ_LICENSE) |
1478 | { |
1481 | { |
1479 | result = LIC_CMD_READ_LICENSE; |
1482 | result = LIC_CMD_READ_LICENSE; |
1480 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &result, 1, LicensePtr, LICENSE_SIZE); |
1483 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &result, 1, LicensePtr, LICENSE_SIZE); |
1481 | } |
1484 | } |
1482 | else |
1485 | else |
1483 | if((UART1_Request_LicenseString == LIC_CMD_ERASE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
1486 | if((UART1_Request_LicenseString == LIC_CMD_ERASE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
1484 | { |
1487 | { |
1485 | result = LIC_CMD_ERASE_LICENSE; |
1488 | result = LIC_CMD_ERASE_LICENSE; |
1486 | DeleteLicenseInEEPROM(); |
1489 | DeleteLicenseInEEPROM(); |
1487 | CheckLicense(GET_LICENSE); |
1490 | CheckLicense(GET_LICENSE); |
1488 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 1, &result, 1); |
1491 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 1, &result, 1); |
1489 | } |
1492 | } |
1490 | else |
1493 | else |
1491 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
1494 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
1492 | { |
1495 | { |
1493 | cmd = LIC_CMD_WRITE_LICENSE; |
1496 | cmd = LIC_CMD_WRITE_LICENSE; |
1494 | if(CheckLicense(CHECK_ONLY)) //new license is okay |
1497 | if(CheckLicense(CHECK_ONLY)) //new license is okay |
1495 | { |
1498 | { |
1496 | WriteLicenseToEEPROM(EEPROM_LICENSE_DATA_KOMPATIBEL); |
1499 | WriteLicenseToEEPROM(EEPROM_LICENSE_DATA_KOMPATIBEL); |
1497 | result = 1; |
1500 | result = 1; |
1498 | } |
1501 | } |
1499 | else //new license is NOT okay |
1502 | else //new license is NOT okay |
1500 | { |
1503 | { |
1501 | ClearLicenseText(); |
1504 | ClearLicenseText(); |
1502 | result = 0; |
1505 | result = 0; |
1503 | CheckLicense(GET_LICENSE); // fetch a license if available |
1506 | CheckLicense(GET_LICENSE); // fetch a license if available |
1504 | } |
1507 | } |
1505 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &cmd, 1,&result, 1 ); |
1508 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &cmd, 1,&result, 1 ); |
1506 | } |
1509 | } |
1507 | UART1_Request_LicenseString = 0; |
1510 | UART1_Request_LicenseString = 0; |
1508 | } |
1511 | } |
1509 | #ifdef FOLLOW_ME |
1512 | #ifdef FOLLOW_ME |
1510 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
1513 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
1511 | { |
1514 | { |
1512 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
1515 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
1513 | { |
1516 | { |
1514 | TransmitAlsoToFC = 1; |
1517 | TransmitAlsoToFC = 1; |
1515 | // update FollowMe content |
1518 | // update FollowMe content |
1516 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
1519 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
1517 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
1520 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
1518 | FollowMe.Position.Status = NEWDATA; |
1521 | FollowMe.Position.Status = NEWDATA; |
1519 | FollowMe.Position.Altitude = 1; |
1522 | FollowMe.Position.Altitude = 1; |
1520 | // 0 -> no Orientation |
1523 | // 0 -> no Orientation |
1521 | // 1-360 -> CompassCourse Setpoint |
1524 | // 1-360 -> CompassCourse Setpoint |
1522 | // -1 -> points to WP1 -> itself |
1525 | // -1 -> points to WP1 -> itself |
1523 | FollowMe.Heading = -1; |
1526 | FollowMe.Heading = -1; |
1524 | FollowMe.ToleranceRadius = 1; |
1527 | FollowMe.ToleranceRadius = 1; |
1525 | FollowMe.HoldTime = 60; |
1528 | FollowMe.HoldTime = 60; |
1526 | FollowMe.Event_Flag = 1; |
1529 | FollowMe.Event_Flag = 1; |
1527 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
1530 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
1528 | FollowMe.Type = POINT_TYPE_WP; |
1531 | FollowMe.Type = POINT_TYPE_WP; |
1529 | FollowMe.WP_EventChannelValue = 100; // set servo value |
1532 | FollowMe.WP_EventChannelValue = 100; // set servo value |
1530 | FollowMe.AltitudeRate = 0; // do not change height |
1533 | FollowMe.AltitudeRate = 0; // do not change height |
1531 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
1534 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
1532 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
1535 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
1533 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
1536 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
1534 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
1537 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
1535 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
1538 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
1536 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
1539 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
1537 | FollowMe.reserve[0] = 0; // reserve |
1540 | FollowMe.reserve[0] = 0; // reserve |
1538 | FollowMe.reserve[1] = 0; // reserve |
1541 | FollowMe.reserve[1] = 0; // reserve |
1539 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
1542 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
1540 | } |
1543 | } |
1541 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
1544 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
1542 | } |
1545 | } |
1543 | #endif |
1546 | #endif |
1544 | #ifdef DEBUG // only include functions if DEBUG is defined |
1547 | #ifdef DEBUG // only include functions if DEBUG is defined |
1545 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
1548 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
1546 | { |
1549 | { |
1547 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
1550 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
1548 | SendDebugOutput = 0; |
1551 | SendDebugOutput = 0; |
1549 | } |
1552 | } |
1550 | #endif |
1553 | #endif |
1551 | UART1_Transmit(); // output pending bytes in tx buffer |
1554 | UART1_Transmit(); // output pending bytes in tx buffer |
1552 | } |
1555 | } |
1553 | 1556 | ||
1554 | 1557 |