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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 | u16 UART1_BaudrateFallbackTimeout = 0; |
135 | u16 UART1_BaudrateFallbackTimeout = 0; |
136 | 136 | ||
137 | SerialChannel_t SerialChannel; |
137 | SerialChannel_t SerialChannel; |
138 | u8 NewSerialChannelFrame = 0; // flag that sends the Frame to FC |
138 | u8 NewSerialChannelFrame = 0; // flag that sends the Frame to FC |
139 | 139 | ||
140 | UART_TypeDef *DebugUART = UART1; |
140 | UART_TypeDef *DebugUART = UART1; |
141 | 141 | ||
142 | #ifdef FOLLOW_ME |
142 | #ifdef FOLLOW_ME |
143 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
143 | #define FOLLOW_ME_INTERVAL 200 // 5 Hz |
144 | u32 UART1_FollowMe_Timer = 0; |
144 | u32 UART1_FollowMe_Timer = 0; |
145 | Point_t FollowMe; |
145 | Point_t FollowMe; |
146 | #endif |
146 | #endif |
147 | 147 | ||
148 | // the primary rx fifo |
148 | // the primary rx fifo |
149 | #define UART1_RX_FIFO_LEN 1500 |
149 | #define UART1_RX_FIFO_LEN 1500 |
150 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
150 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
151 | fifo_t UART1_rx_fifo; |
151 | fifo_t UART1_rx_fifo; |
152 | 152 | ||
153 | // the rx buffer |
153 | // the rx buffer |
154 | #define UART1_RX_BUFFER_LEN 1500 |
154 | #define UART1_RX_BUFFER_LEN 1500 |
155 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
155 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
156 | Buffer_t UART1_rx_buffer; |
156 | Buffer_t UART1_rx_buffer; |
157 | 157 | ||
158 | // the tx buffer |
158 | // the tx buffer |
159 | //#define UART1_TX_BUFFER_LEN 1024 |
159 | //#define UART1_TX_BUFFER_LEN 1024 |
160 | #define UART1_TX_BUFFER_LEN 1500 |
160 | #define UART1_TX_BUFFER_LEN 1500 |
161 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
161 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
162 | Buffer_t UART1_tx_buffer; |
162 | Buffer_t UART1_tx_buffer; |
163 | 163 | ||
164 | volatile u8 SerialLinkOkay = 0; |
164 | volatile u8 SerialLinkOkay = 0; |
165 | 165 | ||
166 | u8 text[200]; |
166 | u8 text[200]; |
167 | u8 *LicensePtr = UART1_tbuffer; |
167 | u8 *LicensePtr = UART1_tbuffer; |
168 | 168 | ||
169 | const u8 ANALOG_LABEL[32][16] = |
169 | const u8 ANALOG_LABEL[32][16] = |
170 | { |
170 | { |
171 | //1234567890123456 |
171 | //1234567890123456 |
172 | "AngleNick ", //0 |
172 | "AngleNick ", //0 |
173 | "AngleRoll ", |
173 | "AngleRoll ", |
174 | "AccNick ", |
174 | "AccNick ", |
175 | "AccRoll ", |
175 | "AccRoll ", |
176 | "Altitude [0.1m] ", |
176 | "Altitude [0.1m] ", |
177 | "FC-Flags ", //5 |
177 | "FC-Flags ", //5 |
178 | "NC-Flags ", |
178 | "NC-Flags ", |
179 | "Voltage [0.1V] ", |
179 | "Voltage [0.1V] ", |
180 | "Current [0.1A] ", |
180 | "Current [0.1A] ", |
181 | "GPS Data ", |
181 | "GPS Data ", |
182 | "CompassHeading ", //10 |
182 | "CompassHeading ", //10 |
183 | "GyroHeading ", |
183 | "GyroHeading ", |
184 | "SPI Error ", // achtung: muss auf 12 bleiben |
184 | "SPI Error ", // achtung: muss auf 12 bleiben |
185 | "GPS CRC Error ", |
185 | "GPS CRC Error ", |
186 | "I2C Error ", |
186 | "I2C Error ", |
187 | "I2C Okay ", //15 |
187 | "I2C Okay ", //15 |
188 | "16 ", |
188 | "16 ", |
189 | "17 ", |
189 | "17 ", |
190 | "18 ", |
190 | "18 ", |
191 | "19 ", |
191 | "19 ", |
192 | "EarthMagnet [%] ", //20 |
192 | "EarthMagnet [%] ", //20 |
193 | "Ground Speed ", // "Z_Speed ", |
193 | "Ground Speed ", // "Z_Speed ", |
194 | "N_Speed ", |
194 | "N_Speed ", |
195 | "E_Speed ", |
195 | "E_Speed ", |
196 | "Magnet X ", |
196 | "Magnet X ", |
197 | "Magnet Y ", //25 |
197 | "Magnet Y ", //25 |
198 | "Magnet Z ", |
198 | "Magnet Z ", |
199 | "Distance N ", |
199 | "Distance N ", |
200 | "Distance E ", |
200 | "Distance E ", |
201 | "-GPS_Nick ", |
201 | "-GPS_Nick ", |
202 | "-GPS_Roll ", //30 |
202 | "-GPS_Roll ", //30 |
203 | "Used_Sats " |
203 | "Used_Sats " |
204 | }; |
204 | }; |
205 | 205 | ||
206 | typedef struct |
206 | typedef struct |
207 | { |
207 | { |
208 | u8 Index; |
208 | u8 Index; |
209 | u8 Status; |
209 | u8 Status; |
210 | } __attribute__((packed)) WPL_Answer_t; |
210 | } __attribute__((packed)) WPL_Answer_t; |
211 | WPL_Answer_t WPL_Answer; |
211 | WPL_Answer_t WPL_Answer; |
212 | 212 | ||
213 | DebugOut_t DebugOut; |
213 | DebugOut_t DebugOut; |
214 | ExternControl_t ExternControl; |
214 | ExternControl_t ExternControl; |
215 | UART_VersionInfo_t UART_VersionInfo; |
215 | UART_VersionInfo_t UART_VersionInfo; |
216 | NaviData_t NaviData; |
216 | NaviData_t NaviData; |
217 | Data3D_t Data3D; |
217 | Data3D_t Data3D; |
218 | 218 | ||
219 | u16 Echo; // 2 bytes recieved will be sent back as echo |
219 | u16 Echo; // 2 bytes recieved will be sent back as echo |
220 | 220 | ||
221 | u32 UART1_DebugData_Timer = 0; |
221 | u32 UART1_DebugData_Timer = 0; |
222 | u32 UART1_DebugData_Interval = 0; // in ms |
222 | u32 UART1_DebugData_Interval = 0; // in ms |
223 | u32 UART1_NaviData_Timer = 0; |
223 | u32 UART1_NaviData_Timer = 0; |
224 | u32 UART1_NaviData_Interval = 0; // in ms |
224 | u32 UART1_NaviData_Interval = 0; // in ms |
225 | u16 UART1_NaviData_MaxBytes = 0; // newer protocol? |
225 | u16 UART1_NaviData_MaxBytes = 0; // newer protocol? |
226 | u32 UART1_Data3D_Timer = 0; |
226 | u32 UART1_Data3D_Timer = 0; |
227 | u32 UART1_Data3D_Interval = 0; // in ms |
227 | u32 UART1_Data3D_Interval = 0; // in ms |
228 | u32 UART1_MotorData_Timer = 0; |
228 | u32 UART1_MotorData_Timer = 0; |
229 | u32 UART1_MotorData_Interval = 0; // in ms |
229 | u32 UART1_MotorData_Interval = 0; // in ms |
230 | u32 UART1_Display_Timer = 0; |
230 | u32 UART1_Display_Timer = 0; |
231 | u32 UART1_Display_Interval = 0; // in ms |
231 | u32 UART1_Display_Interval = 0; // in ms |
232 | u32 NMEA_Timer = 0; |
232 | u32 NMEA_Timer = 0; |
233 | u32 NMEA_Interval = 0;// in ms |
233 | u32 NMEA_Interval = 0;// in ms |
234 | 234 | ||
235 | u8 CalculateDebugLableCrc(void) |
235 | u8 CalculateDebugLableCrc(void) |
236 | { |
236 | { |
237 | u16 i; |
237 | u16 i; |
238 | u8 crc = 0; |
238 | u8 crc = 0; |
239 | for(i=0;i<sizeof(ANALOG_LABEL);i++) crc += ANALOG_LABEL[0][i]; |
239 | for(i=0;i<sizeof(ANALOG_LABEL);i++) crc += ANALOG_LABEL[0][i]; |
240 | return(crc); |
240 | return(crc); |
241 | } |
241 | } |
242 | 242 | ||
243 | /********************************************************/ |
243 | /********************************************************/ |
244 | /* Initialization the UART1 */ |
244 | /* Initialization the UART1 */ |
245 | /********************************************************/ |
245 | /********************************************************/ |
246 | void UART1_Init (void) |
246 | void UART1_Init (void) |
247 | { |
247 | { |
248 | GPIO_InitTypeDef GPIO_InitStructure; |
248 | GPIO_InitTypeDef GPIO_InitStructure; |
249 | UART_InitTypeDef UART_InitStructure; |
249 | UART_InitTypeDef UART_InitStructure; |
250 | 250 | ||
251 | // initialize txd buffer |
251 | // initialize txd buffer |
252 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
252 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
253 | 253 | ||
254 | // initialize rxd buffer |
254 | // initialize rxd buffer |
255 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
255 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
256 | 256 | ||
257 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
257 | // initialize the rx fifo, block UART IRQ geting a byte from fifo |
258 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
258 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN, NO_ITLine, UART1_ITLine); |
259 | 259 | ||
260 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
260 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
261 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
261 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
262 | 262 | ||
263 | /*Configure UART1_Rx pin GPIO3.2*/ |
263 | /*Configure UART1_Rx pin GPIO3.2*/ |
264 | GPIO_StructInit(&GPIO_InitStructure); |
264 | GPIO_StructInit(&GPIO_InitStructure); |
265 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
265 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
266 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
266 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
267 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
267 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
268 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
268 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
269 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
269 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
270 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
270 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
271 | 271 | ||
272 | /*Configure UART1_Tx pin GPIO3.3*/ |
272 | /*Configure UART1_Tx pin GPIO3.3*/ |
273 | GPIO_StructInit(&GPIO_InitStructure); |
273 | GPIO_StructInit(&GPIO_InitStructure); |
274 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
274 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
275 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
275 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
276 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
276 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
277 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
277 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
278 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
278 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
279 | 279 | ||
280 | // Control of PORT3.7 (FC-UART) |
280 | // Control of PORT3.7 (FC-UART) |
281 | GPIO_StructInit(&GPIO_InitStructure); |
281 | GPIO_StructInit(&GPIO_InitStructure); |
282 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
282 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
283 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
283 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
284 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
284 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
285 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; |
285 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; |
286 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
286 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
287 | DISABLE_FC_UART; |
287 | DISABLE_FC_UART; |
288 | 288 | ||
289 | /* UART1 configured as follow: |
289 | /* UART1 configured as follow: |
290 | - Word Length = 8 Bits |
290 | - Word Length = 8 Bits |
291 | - One Stop Bit |
291 | - One Stop Bit |
292 | - No parity |
292 | - No parity |
293 | - BaudRate = 57600 baud |
293 | - BaudRate = 57600 baud |
294 | - Hardware flow control Disabled |
294 | - Hardware flow control Disabled |
295 | - Receive and transmit enabled |
295 | - Receive and transmit enabled |
296 | - Receive and transmit FIFOs are Disabled |
296 | - Receive and transmit FIFOs are Disabled |
297 | */ |
297 | */ |
298 | UART_StructInit(&UART_InitStructure); |
298 | UART_StructInit(&UART_InitStructure); |
299 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
299 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
300 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
300 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
301 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
301 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
302 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
302 | UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE; |
303 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
303 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
304 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
304 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
305 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
305 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
306 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
306 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
307 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
307 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
308 | 308 | ||
309 | UART_DeInit(UART1); // reset uart 1 to default |
309 | UART_DeInit(UART1); // reset uart 1 to default |
310 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
310 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
311 | // enable uart 1 interrupts selective |
311 | // enable uart 1 interrupts selective |
312 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
312 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
313 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
313 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
314 | // configure the uart 1 interupt line |
314 | // configure the uart 1 interupt line |
315 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
315 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
316 | // enable the uart 1 IRQ |
316 | // enable the uart 1 IRQ |
317 | VIC_ITCmd(UART1_ITLine, ENABLE); |
317 | VIC_ITCmd(UART1_ITLine, ENABLE); |
318 | 318 | ||
319 | // initialize the debug timer |
319 | // initialize the debug timer |
320 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
320 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
321 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
321 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
322 | NMEA_Timer = SetDelay(14000); |
322 | NMEA_Timer = SetDelay(14000); |
323 | 323 | ||
324 | // Fill Version Info Structure |
324 | // Fill Version Info Structure |
325 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
325 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
326 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
326 | UART_VersionInfo.SWMinor = VERSION_MINOR; |
327 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
327 | UART_VersionInfo.SWPatch = VERSION_PATCH; |
328 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
328 | UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
329 | UART_VersionInfo.HWMajor = Version_HW & 0x7F; |
329 | UART_VersionInfo.HWMajor = Version_HW & 0x7F; |
330 | UART_VersionInfo.BL_Firmware = 255; |
330 | UART_VersionInfo.BL_Firmware = 255; |
331 | UART_VersionInfo.Flags = 0; |
331 | UART_VersionInfo.Flags = 0; |
332 | UART_VersionInfo.LabelTextCRC = CalculateDebugLableCrc(); |
332 | UART_VersionInfo.LabelTextCRC = CalculateDebugLableCrc(); |
333 | NaviData.Version = NAVIDATA_VERSION; |
333 | NaviData.Version = NAVIDATA_VERSION; |
334 | 334 | ||
335 | PPM_In[PPM_IN_MAX] = +127; |
335 | PPM_In[PPM_IN_MAX] = +127; |
336 | PPM_In[PPM_IN_OFF] = -127; |
336 | PPM_In[PPM_IN_OFF] = -127; |
337 | PPM_In[PPM_IN_MID] = 0; |
337 | PPM_In[PPM_IN_MID] = 0; |
338 | 338 | ||
339 | UART1_PutString("\r\n UART1 init...ok"); |
339 | UART1_PutString("\r\n UART1 init...ok"); |
340 | } |
340 | } |
341 | 341 | ||
342 | /****************************************************************/ |
342 | /****************************************************************/ |
343 | /* USART1 change baudrate */ |
343 | /* USART1 change baudrate */ |
344 | /****************************************************************/ |
344 | /****************************************************************/ |
345 | void UART1_Configure(u32 baudrate) |
345 | void UART1_Configure(u32 baudrate) |
346 | { |
346 | { |
347 | UART_InitTypeDef UART_InitStructure; |
347 | UART_InitTypeDef UART_InitStructure; |
348 | 348 | ||
349 | UART_Cmd(UART1, DISABLE); |
349 | UART_Cmd(UART1, DISABLE); |
350 | 350 | ||
351 | UART_StructInit(&UART_InitStructure); |
351 | UART_StructInit(&UART_InitStructure); |
352 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
352 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
353 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
353 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
354 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
354 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
355 | UART_InitStructure.UART_BaudRate = baudrate; |
355 | UART_InitStructure.UART_BaudRate = baudrate; |
356 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
356 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
357 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
357 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
358 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
358 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
359 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
359 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
360 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
360 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes |
361 | 361 | ||
362 | UART_DeInit(UART1); // reset uart 1 to default |
362 | UART_DeInit(UART1); // reset uart 1 to default |
363 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
363 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
364 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
364 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
365 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
365 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
366 | } |
366 | } |
367 | 367 | ||
368 | /****************************************************************/ |
368 | /****************************************************************/ |
369 | /* USART1 receiver ISR */ |
369 | /* USART1 receiver ISR */ |
370 | /****************************************************************/ |
370 | /****************************************************************/ |
371 | void UART1_IRQHandler(void) |
371 | void UART1_IRQHandler(void) |
372 | { |
372 | { |
373 | static u8 abortState = 0; |
373 | static u8 abortState = 0; |
374 | u8 c; |
374 | u8 c; |
375 | 375 | ||
376 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
376 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
377 | { |
377 | { |
378 | // clear the pending bits! |
378 | // clear the pending bits! |
379 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
379 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
380 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
380 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
381 | // if debug UART is not UART1 |
381 | // if debug UART is not UART1 |
382 | if (DebugUART != UART1) |
382 | if (DebugUART != UART1) |
383 | { // forward received data to the debug UART tx buffer |
383 | { // forward received data to the debug UART tx buffer |
384 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
384 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
385 | { |
385 | { |
386 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
386 | // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
387 | c = UART_ReceiveData(UART1); |
387 | c = UART_ReceiveData(UART1); |
388 | 388 | ||
389 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
389 | // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
390 | switch (abortState) |
390 | switch (abortState) |
391 | { |
391 | { |
392 | case 0: |
392 | case 0: |
393 | if (c == 27) abortState++; |
393 | if (c == 27) abortState++; |
394 | break; |
394 | break; |
395 | case 1: |
395 | case 1: |
396 | if (c == 27) abortState++; |
396 | if (c == 27) abortState++; |
397 | else abortState = 0; |
397 | else abortState = 0; |
398 | break; |
398 | break; |
399 | case 2: |
399 | case 2: |
400 | if (c == 0x55) abortState++; |
400 | if (c == 0x55) abortState++; |
401 | else abortState = 0; |
401 | else abortState = 0; |
402 | break; |
402 | break; |
403 | case 3: |
403 | case 3: |
404 | if (c == 0xAA) abortState++; |
404 | if (c == 0xAA) abortState++; |
405 | else abortState = 0; |
405 | else abortState = 0; |
406 | break; |
406 | break; |
407 | case 4: |
407 | case 4: |
408 | if (c == 0x00) |
408 | if (c == 0x00) |
409 | { |
409 | { |
410 | if(DebugUART == UART0) |
410 | if(DebugUART == UART0) |
411 | { |
411 | { |
412 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
412 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
413 | TIMER2_Init(); // enbable servo outputs |
413 | TIMER2_Init(); // enbable servo outputs |
414 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
414 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
415 | } |
415 | } |
416 | DebugUART = UART1; |
416 | DebugUART = UART1; |
417 | DISABLE_FC_UART; |
417 | DISABLE_FC_UART; |
418 | } |
418 | } |
419 | abortState = 0; |
419 | abortState = 0; |
420 | break; |
420 | break; |
421 | } // end switch abort state |
421 | } // end switch abort state |
422 | // if the Debug uart is not UART1, redirect input to the Debug UART |
422 | // if the Debug uart is not UART1, redirect input to the Debug UART |
423 | if (DebugUART != UART1) |
423 | if (DebugUART != UART1) |
424 | { |
424 | { |
425 | // wait for space in the tx buffer of the DebugUART |
425 | // wait for space in the tx buffer of the DebugUART |
426 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
426 | while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
427 | // move byte to the tx fifo of the debug uart |
427 | // move byte to the tx fifo of the debug uart |
428 | UART_SendData(DebugUART, c); |
428 | UART_SendData(DebugUART, c); |
429 | } |
429 | } |
430 | } |
430 | } |
431 | } |
431 | } |
432 | else // DebugUART == UART1 (normal operation) |
432 | else // DebugUART == UART1 (normal operation) |
433 | { |
433 | { |
434 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
434 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
435 | { // some byes in the hardware fifo |
435 | { // some byes in the hardware fifo |
436 | // get byte from hardware fifo |
436 | // get byte from hardware fifo |
437 | c = UART_ReceiveData(UART1); |
437 | c = UART_ReceiveData(UART1); |
438 | // put into the software fifo |
438 | // put into the software fifo |
439 | if(!fifo_put(&UART1_rx_fifo, c)) |
439 | if(!fifo_put(&UART1_rx_fifo, c)) |
440 | { // fifo overflow |
440 | { // fifo overflow |
441 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
441 | //fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
442 | } |
442 | } |
443 | } // EOF while some byes in the hardware fifo |
443 | } // EOF while some byes in the hardware fifo |
444 | } // eof DebugUart = UART1 |
444 | } // eof DebugUart = UART1 |
445 | } |
445 | } |
446 | 446 | ||
447 | 447 | ||
448 | 448 | ||
449 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
449 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
450 | } |
450 | } |
451 | 451 | ||
452 | /**************************************************************/ |
452 | /**************************************************************/ |
453 | /* Process incomming data from debug uart */ |
453 | /* Process incomming data from debug uart */ |
454 | /**************************************************************/ |
454 | /**************************************************************/ |
455 | void UART1_ProcessRxData(void) |
455 | void UART1_ProcessRxData(void) |
456 | { |
456 | { |
457 | // return on forwarding uart or unlocked rx buffer |
457 | // return on forwarding uart or unlocked rx buffer |
458 | u8 c; |
458 | u8 c; |
459 | if(DebugUART != UART1) return; |
459 | if(DebugUART != UART1) return; |
460 | // if rx buffer is not locked |
460 | // if rx buffer is not locked |
461 | if(UART1_rx_buffer.Locked == FALSE) |
461 | if(UART1_rx_buffer.Locked == FALSE) |
462 | { |
462 | { |
463 | //collect data from primary rx fifo |
463 | //collect data from primary rx fifo |
464 | while(fifo_get(&UART1_rx_fifo, &c)) |
464 | while(fifo_get(&UART1_rx_fifo, &c)) |
465 | { |
465 | { |
466 | // break if complete frame is collected |
466 | // break if complete frame is collected |
467 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
467 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
468 | } |
468 | } |
469 | } |
469 | } |
470 | if(UART1_rx_buffer.Locked == FALSE) return; |
470 | if(UART1_rx_buffer.Locked == FALSE) return; |
471 | 471 | ||
472 | Point_t * pPoint = NULL; |
472 | Point_t * pPoint = NULL; |
473 | SerialMsg_t SerialMsg; |
473 | SerialMsg_t SerialMsg; |
474 | 474 | ||
475 | // analyze header first |
475 | // analyze header first |
476 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
476 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
477 | /* |
477 | /* |
478 | if( SerialMsg.Address == FC_ADDRESS ) |
478 | if( SerialMsg.Address == FC_ADDRESS ) |
479 | { |
479 | { |
480 | switch(SerialMsg.CmdID) |
480 | switch(SerialMsg.CmdID) |
481 | { |
481 | { |
482 | // case 'b': // extern control |
482 | // case 'b': // extern control |
483 | // UART1_ExternalControlConfirmFrame = 1; |
483 | // UART1_ExternalControlConfirmFrame = 1; |
484 | // case 'y': // serial poti values |
484 | // case 'y': // serial poti values |
485 | // Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
485 | // Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC |
486 | // Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
486 | // Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
487 | // return; //end process rx data |
487 | // return; //end process rx data |
488 | break; |
488 | break; |
489 | } |
489 | } |
490 | } |
490 | } |
491 | */ |
491 | */ |
492 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
492 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
493 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
493 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
494 | switch(SerialMsg.Address) // check for Slave Address |
494 | switch(SerialMsg.Address) // check for Slave Address |
495 | { |
495 | { |
496 | case NC_ADDRESS: // own Slave Address |
496 | case NC_ADDRESS: // own Slave Address |
497 | switch(SerialMsg.CmdID) |
497 | switch(SerialMsg.CmdID) |
498 | { |
498 | { |
499 | case 't': // request for the GPS time |
499 | case 't': // request for the GPS time |
500 | UART1_Request_SystemTime = TRUE; |
500 | UART1_Request_SystemTime = TRUE; |
501 | break; |
501 | break; |
502 | 502 | ||
503 | case 'm': // request for the license string |
503 | case 'm': // request for the license string |
504 | UART1_Request_LicenseString = SerialMsg.pData[0]; |
504 | UART1_Request_LicenseString = SerialMsg.pData[0]; |
505 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && (UART_VersionInfo.HWMajor >= 20)) |
505 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && (UART_VersionInfo.HWMajor >= 20)) |
506 | { |
506 | { |
507 | memcpy(LicensePtr, &SerialMsg.pData[1],LICENSE_SIZE_TEXT); // copy license |
507 | memcpy(LicensePtr, &SerialMsg.pData[1],LICENSE_SIZE_TEXT); // copy license |
508 | memcpy(&LicensePtr[460], &SerialMsg.pData[1+460],OEM_NAME_LENGHT); // copy license |
508 | memcpy(&LicensePtr[460], &SerialMsg.pData[1+460],OEM_NAME_LENGHT); // copy license |
509 | } |
509 | } |
510 | break; |
510 | break; |
511 | case 'f': // ftp command |
511 | case 'f': // ftp command |
512 | UART1_Request_FTP = SerialMsg.pData[0]; |
512 | UART1_Request_FTP = SerialMsg.pData[0]; |
513 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
513 | //if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE) |
514 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
514 | memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter |
515 | break; |
515 | break; |
516 | 516 | ||
517 | case 'z': // connection checker |
517 | case 'z': // connection checker |
518 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
518 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
519 | UART1_Request_Echo = TRUE; |
519 | UART1_Request_Echo = TRUE; |
520 | break; |
520 | break; |
521 | 521 | ||
522 | case 'e': // request for the text of the error status |
522 | case 'e': // request for the text of the error status |
523 | UART1_Request_ErrorMessage = TRUE; |
523 | UART1_Request_ErrorMessage = TRUE; |
524 | break; |
524 | break; |
525 | 525 | ||
526 | case 's':// new target position |
526 | case 's':// new target position |
527 | pPoint = (Point_t*)SerialMsg.pData; |
527 | pPoint = (Point_t*)SerialMsg.pData; |
528 | if(pPoint->Position.Status == NEWDATA) |
528 | if(pPoint->Position.Status == NEWDATA) |
529 | { |
529 | { |
- | 530 | u32 start = 0; |
|
530 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
531 | //if(!(FC.StatusFlags & FC_STATUS_FLY)) PointList_Clear(); // flush the list |
531 | //pPoint->Index = 1; // must be one after empty list |
532 | //pPoint->Index = 1; // must be one after empty list |
532 | PointList_SetAt(pPoint); |
533 | PointList_SetAt(pPoint); |
533 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
534 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
534 | // GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
535 | // GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
535 | - | ||
- | 536 | if(pPoint->Index) start = pPoint->Index-1; |
|
536 | 537 | ||
537 | if(CurrentlyFlyingWaypoints) |
538 | if(CurrentlyFlyingWaypoints) |
538 | { |
539 | { |
539 | GPS_pWaypoint = PointList_WPBegin(); |
540 | GPS_pWaypoint = PointList_WPBegin(start); |
540 | NewWaypointsReceived = 0; // Only an update |
541 | NewWaypointsReceived = 0; // Only an update |
541 | } |
542 | } |
542 | BeepTime = 50; |
543 | BeepTime = 50; |
543 | } |
544 | } |
544 | else |
545 | else |
545 | if((pPoint->Position.Status == SIMULATION) && !(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN)) |
546 | if((pPoint->Position.Status == SIMULATION) && !(FC.RealStatusFlags & FC_STATUS_MOTOR_RUN)) |
546 | { |
547 | { |
547 | if(pPoint->Event_Flag & SIMULATION_MOTOR_ON) |
548 | if(pPoint->Event_Flag & SIMULATION_MOTOR_ON) |
548 | { |
549 | { |
549 | GPSPos_Copy(&(pPoint->Position), &SimulationPosition); // update hold position |
550 | GPSPos_Copy(&(pPoint->Position), &SimulationPosition); // update hold position |
550 | CompassDirectionAtMotorStart = SimulatedDirection*10; |
551 | CompassDirectionAtMotorStart = SimulatedDirection*10; |
551 | } |
552 | } |
552 | if(!(SimulationFlags & SIMULATION_MOTOR_ON) && (pPoint->Event_Flag & SIMULATION_MOTOR_ON)) |
553 | if(!(SimulationFlags & SIMULATION_MOTOR_ON) && (pPoint->Event_Flag & SIMULATION_MOTOR_ON)) |
553 | { |
554 | { |
554 | SimulationFlags = pPoint->Event_Flag | SIMULATION_MOTOR_START; // dann steht da noch nicht "SIMULATION_MOTOR_ON" drin |
555 | SimulationFlags = pPoint->Event_Flag | SIMULATION_MOTOR_START; // dann steht da noch nicht "SIMULATION_MOTOR_ON" drin |
555 | SpeakHoTT = SPEAK_STARTING; |
556 | SpeakHoTT = SPEAK_STARTING; |
556 | } |
557 | } |
557 | else |
558 | else |
558 | if(!(pPoint->Event_Flag & SIMULATION_MOTOR_ON) && (SimulationFlags & SIMULATION_MOTOR_ON)) |
559 | if(!(pPoint->Event_Flag & SIMULATION_MOTOR_ON) && (SimulationFlags & SIMULATION_MOTOR_ON)) |
559 | { |
560 | { |
560 | SimulationFlags = pPoint->Event_Flag; |
561 | SimulationFlags = pPoint->Event_Flag; |
561 | SpeakHoTT = SPEAK_MK_OFF; |
562 | SpeakHoTT = SPEAK_MK_OFF; |
562 | BeepTime = 50; |
563 | BeepTime = 50; |
563 | } |
564 | } |
564 | else |
565 | else |
565 | SimulationFlags = pPoint->Event_Flag | (SimulationFlags & SIMULATION_MOTOR_START); |
566 | SimulationFlags = pPoint->Event_Flag | (SimulationFlags & SIMULATION_MOTOR_START); |
566 | } |
567 | } |
567 | break; |
568 | break; |
568 | case 'u': // redirect debug uart |
569 | case 'u': // redirect debug uart |
569 | switch(SerialMsg.pData[0]) |
570 | switch(SerialMsg.pData[0]) |
570 | { |
571 | { |
571 | case UART_FLIGHTCTRL: |
572 | case UART_FLIGHTCTRL: |
572 | ENABLE_FC_UART; |
573 | ENABLE_FC_UART; |
573 | UART2_Init(); // initialize UART2 to FC pins |
574 | UART2_Init(); // initialize UART2 to FC pins |
574 | fifo_purge(&UART1_rx_fifo); |
575 | fifo_purge(&UART1_rx_fifo); |
575 | TIMER2_Deinit(); // reduce irq load |
576 | TIMER2_Deinit(); // reduce irq load |
576 | DebugUART = UART2; |
577 | DebugUART = UART2; |
577 | break; |
578 | break; |
578 | case UART_MK3MAG: |
579 | case UART_MK3MAG: |
579 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
580 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
580 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
581 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
581 | GPSData.Status = INVALID; |
582 | GPSData.Status = INVALID; |
582 | fifo_purge(&UART1_rx_fifo); |
583 | fifo_purge(&UART1_rx_fifo); |
583 | DebugUART = UART0; |
584 | DebugUART = UART0; |
584 | break; |
585 | break; |
585 | case UART_MKGPS: |
586 | case UART_MKGPS: |
586 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
587 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) break; // not if the motors are running |
587 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
588 | TIMER2_Deinit(); // disable servo outputs to reduce irq load |
588 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
589 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); // connect UART0 to MKGPS pins |
589 | GPSData.Status = INVALID; |
590 | GPSData.Status = INVALID; |
590 | fifo_purge(&UART1_rx_fifo); |
591 | fifo_purge(&UART1_rx_fifo); |
591 | DebugUART = UART0; |
592 | DebugUART = UART0; |
592 | break; |
593 | break; |
593 | default: |
594 | default: |
594 | break; |
595 | break; |
595 | } |
596 | } |
596 | break; |
597 | break; |
597 | 598 | ||
598 | case 'w':// Set point in list at index |
599 | case 'w':// Set point in list at index |
599 | { |
600 | { |
600 | pPoint = (Point_t*)SerialMsg.pData; |
601 | pPoint = (Point_t*)SerialMsg.pData; |
601 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
602 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
602 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
603 | if((pPoint->Position.Status == INVALID) && (pPoint->Index == 0)) |
603 | { |
604 | { |
604 | PointList_Clear(); |
605 | PointList_Clear(); |
605 | GPS_pWaypoint = PointList_WPBegin(); |
606 | GPS_pWaypoint = PointList_WPBegin(0); |
606 | UART1_Request_WritePoint = 0; // return new point count |
607 | UART1_Request_WritePoint = 0; // return new point count |
607 | NewWaypointsReceived = 1; |
608 | NewWaypointsReceived = 1; |
608 | } |
609 | } |
609 | else |
610 | else |
610 | { // update WP in list at index |
611 | { // update WP in list at index |
611 | if(pPoint->Index > MaxNumberOfWaypoints) |
612 | if(pPoint->Index > MaxNumberOfWaypoints) |
612 | { |
613 | { |
613 | UART1_Request_WritePoint = 254; |
614 | UART1_Request_WritePoint = 254; |
614 | pPoint->Index = MaxNumberOfWaypoints; |
615 | pPoint->Index = MaxNumberOfWaypoints; |
615 | } |
616 | } |
616 | else UART1_Request_WritePoint = PointList_SetAt(pPoint); |
617 | else UART1_Request_WritePoint = PointList_SetAt(pPoint); |
617 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
618 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
618 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
619 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
619 | if(UART1_Request_WritePoint == pPoint->Index) |
620 | if(UART1_Request_WritePoint == pPoint->Index) |
620 | { |
621 | { |
621 | BeepTime = 500; |
622 | BeepTime = 500; |
622 | if(UART1_Request_WritePoint == 1) SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
623 | if(UART1_Request_WritePoint == 1) SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
623 | } |
624 | } |
624 | } |
625 | } |
625 | } |
626 | } |
626 | break; |
627 | break; |
627 | 628 | ||
628 | case 'x':// Read Waypoint from List |
629 | case 'x':// Read Waypoint from List |
629 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
630 | UART1_Request_ReadPoint = SerialMsg.pData[0]; |
630 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
631 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
631 | break; |
632 | break; |
632 | 633 | ||
633 | case 'i':// Store WP List to file |
634 | case 'i':// Store WP List to file |
634 | memcpy((u8*)&WPL_Store, SerialMsg.pData, sizeof(WPL_Store_t)); |
635 | memcpy((u8*)&WPL_Store, SerialMsg.pData, sizeof(WPL_Store_t)); |
635 | WPL_Store.Name[11] = 0; // make sure the name string is terminated |
636 | WPL_Store.Name[11] = 0; // make sure the name string is terminated |
636 | WPL_Answer.Index = WPL_Store.Index; // echo Index in cmd answer |
637 | WPL_Answer.Index = WPL_Store.Index; // echo Index in cmd answer |
637 | WPL_Answer.Status = PointList_WriteToFile(&WPL_Store); |
638 | WPL_Answer.Status = PointList_WriteToFile(&WPL_Store); |
638 | UART1_Request_WPLStore = TRUE; |
639 | UART1_Request_WPLStore = TRUE; |
639 | break; |
640 | break; |
640 | 641 | ||
641 | case 'j':// Set/Get NC-Parameter |
642 | case 'j':// Set/Get NC-Parameter |
642 | switch(SerialMsg.pData[0]) |
643 | switch(SerialMsg.pData[0]) |
643 | { |
644 | { |
644 | case 0: // get |
645 | case 0: // get |
645 | break; |
646 | break; |
646 | 647 | ||
647 | case 1: // set |
648 | case 1: // set |
648 | { |
649 | { |
649 | s16 value; |
650 | s16 value; |
650 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
651 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
651 | NCParams_SetValue(SerialMsg.pData[1], &value); |
652 | NCParams_SetValue(SerialMsg.pData[1], &value); |
652 | } |
653 | } |
653 | break; |
654 | break; |
654 | 655 | ||
655 | default: |
656 | default: |
656 | break; |
657 | break; |
657 | } |
658 | } |
658 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
659 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
659 | UART1_Request_Parameter = TRUE; |
660 | UART1_Request_Parameter = TRUE; |
660 | break; |
661 | break; |
661 | default: |
662 | default: |
662 | // unsupported command recieved |
663 | // unsupported command recieved |
663 | break; |
664 | break; |
664 | } // case NC_ADDRESS |
665 | } // case NC_ADDRESS |
665 | // "break;" is missing here to fall thru to the common commands |
666 | // "break;" is missing here to fall thru to the common commands |
666 | 667 | ||
667 | default: // and any other Slave Address |
668 | default: // and any other Slave Address |
668 | 669 | ||
669 | switch(SerialMsg.CmdID) // check CmdID |
670 | switch(SerialMsg.CmdID) // check CmdID |
670 | { |
671 | { |
671 | case 'a':// request for the labels of the analog debug outputs |
672 | case 'a':// request for the labels of the analog debug outputs |
672 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
673 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
673 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
674 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
674 | break; |
675 | break; |
675 | 676 | ||
676 | case 'b': // submit extern control |
677 | case 'b': // submit extern control |
677 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
678 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
678 | UART1_ConfirmFrame = ExternControl.Frame; |
679 | UART1_ConfirmFrame = ExternControl.Frame; |
679 | NewExternalControlFrame = 1; |
680 | NewExternalControlFrame = 1; |
680 | break; |
681 | break; |
681 | 682 | ||
682 | case 'y': // serial Channels |
683 | case 'y': // serial Channels |
683 | memcpy(&SerialChannel, SerialMsg.pData, sizeof(SerialChannel)); |
684 | memcpy(&SerialChannel, SerialMsg.pData, sizeof(SerialChannel)); |
684 | memcpy((u8 *) &(PPM_In[SERIAL_POTI_START]), (u8 *) &SerialChannel, 12); // copy the 12 Bytes Serial Channels into the PPM_In array |
685 | memcpy((u8 *) &(PPM_In[SERIAL_POTI_START]), (u8 *) &SerialChannel, 12); // copy the 12 Bytes Serial Channels into the PPM_In array |
685 | NewSerialChannelFrame = 1; |
686 | NewSerialChannelFrame = 1; |
686 | break; |
687 | break; |
687 | 688 | ||
688 | case 'g':// request for the externalControl |
689 | case 'g':// request for the externalControl |
689 | UART1_Request_ExternalControl = TRUE; |
690 | UART1_Request_ExternalControl = TRUE; |
690 | break; |
691 | break; |
691 | 692 | ||
692 | case 'p':// request for the PPM_In |
693 | case 'p':// request for the PPM_In |
693 | UART1_Request_PPM_Channels = TRUE; |
694 | UART1_Request_PPM_Channels = TRUE; |
694 | break; |
695 | break; |
695 | 696 | ||
696 | case 'd': // request for debug data; |
697 | case 'd': // request for debug data; |
697 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
698 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
698 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
699 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
699 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
700 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
700 | break; |
701 | break; |
701 | 702 | ||
702 | case 'c': // request for 3D data; |
703 | case 'c': // request for 3D data; |
703 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
704 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
704 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
705 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
705 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
706 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
706 | break; |
707 | break; |
707 | 708 | ||
708 | case 'k': // request for Motor data; |
709 | case 'k': // request for Motor data; |
709 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
710 | UART1_MotorData_Interval = (u32) SerialMsg.pData[0] * 10; |
710 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
711 | if(UART1_MotorData_Interval > 0) UART1_Request_MotorData = TRUE; |
711 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
712 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
712 | break; |
713 | break; |
713 | 714 | ||
714 | case 'h':// reqest for display line |
715 | case 'h':// reqest for display line |
715 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
716 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
716 | { |
717 | { |
717 | UART1_DisplayLine = 2; |
718 | UART1_DisplayLine = 2; |
718 | UART1_Display_Interval = 0; |
719 | UART1_Display_Interval = 0; |
719 | UART1_Request_Display = TRUE; |
720 | UART1_Request_Display = TRUE; |
720 | } |
721 | } |
721 | else |
722 | else |
722 | { |
723 | { |
723 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
724 | UART1_DisplayKeys |= ~SerialMsg.pData[0]; |
724 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
725 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
725 | UART1_DisplayLine = 4; |
726 | UART1_DisplayLine = 4; |
726 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
727 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
727 | if(UART1_Display_Interval) UART1_Request_Display = TRUE; |
728 | if(UART1_Display_Interval) UART1_Request_Display = TRUE; |
728 | } |
729 | } |
729 | break; |
730 | break; |
730 | 731 | ||
731 | case 'l':// reqest for display columns |
732 | case 'l':// reqest for display columns |
732 | MenuItem = SerialMsg.pData[0]; |
733 | MenuItem = SerialMsg.pData[0]; |
733 | UART1_Request_Display1 = TRUE; |
734 | UART1_Request_Display1 = TRUE; |
734 | break; |
735 | break; |
735 | 736 | ||
736 | case 'o': // request for navigation information |
737 | case 'o': // request for navigation information |
737 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
738 | UART1_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
738 | if(SerialMsg.DataLen > 2) UART1_NaviData_MaxBytes = SerialMsg.pData[1] * 256 + SerialMsg.pData[2]; |
739 | if(SerialMsg.DataLen > 2) UART1_NaviData_MaxBytes = SerialMsg.pData[1] * 256 + SerialMsg.pData[2]; |
739 | else UART1_NaviData_MaxBytes = 0; |
740 | else UART1_NaviData_MaxBytes = 0; |
740 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
741 | if(UART1_NaviData_Interval > 0) UART1_Request_NaviData = TRUE; |
741 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
742 | UART1_AboTimeOut = SetDelay(ABO_TIMEOUT); |
742 | if(UART1_NaviData_Interval < 100) UART1_NaviData_Interval = 100; |
743 | if(UART1_NaviData_Interval < 100) UART1_NaviData_Interval = 100; |
743 | break; |
744 | break; |
744 | 745 | ||
745 | case 'v': // request for version info |
746 | case 'v': // request for version info |
746 | if(SerialMsg.DataLen > 0 && SerialMsg.pData[0] == 1) UART1_Request_VersionInfo = 1; |
747 | if(SerialMsg.DataLen > 0 && SerialMsg.pData[0] == 1) UART1_Request_VersionInfo = 1; |
747 | else UART1_Request_VersionInfo = 2; |
748 | else UART1_Request_VersionInfo = 2; |
748 | break; |
749 | break; |
749 | default: |
750 | default: |
750 | // unsupported command recieved |
751 | // unsupported command recieved |
751 | break; |
752 | break; |
752 | } |
753 | } |
753 | break; // default: |
754 | break; // default: |
754 | } |
755 | } |
755 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
756 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
756 | } |
757 | } |
757 | 758 | ||
758 | 759 | ||
759 | /*****************************************************/ |
760 | /*****************************************************/ |
760 | /* Send a character */ |
761 | /* Send a character */ |
761 | /*****************************************************/ |
762 | /*****************************************************/ |
762 | s16 UART1_Putchar(char c) |
763 | s16 UART1_Putchar(char c) |
763 | { |
764 | { |
764 | u32 timeout = 10000; |
765 | u32 timeout = 10000; |
765 | if (c == '\n') UART1_Putchar('\r'); |
766 | if (c == '\n') UART1_Putchar('\r'); |
766 | // wait until txd fifo is not full |
767 | // wait until txd fifo is not full |
767 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
768 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET) if(--timeout == 0) return(0); |
768 | // transmit byte |
769 | // transmit byte |
769 | UART_SendData(UART1, c); |
770 | UART_SendData(UART1, c); |
770 | #ifdef FOLLOW_ME |
771 | #ifdef FOLLOW_ME |
771 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
772 | if(TransmitAlsoToFC) UART_SendData(UART2, c); |
772 | #endif |
773 | #endif |
773 | return (0); |
774 | return (0); |
774 | } |
775 | } |
775 | 776 | ||
776 | /*****************************************************/ |
777 | /*****************************************************/ |
777 | /* Send a string to the debug uart */ |
778 | /* Send a string to the debug uart */ |
778 | /*****************************************************/ |
779 | /*****************************************************/ |
779 | void UART1_PutString(u8 *s) |
780 | void UART1_PutString(u8 *s) |
780 | { |
781 | { |
781 | if(s == NULL) return; |
782 | if(s == NULL) return; |
782 | while (*s != '\0' && DebugUART == UART1) |
783 | while (*s != '\0' && DebugUART == UART1) |
783 | { |
784 | { |
784 | UART1_Putchar(*s); |
785 | UART1_Putchar(*s); |
785 | s ++; |
786 | s ++; |
786 | } |
787 | } |
787 | } |
788 | } |
788 | 789 | ||
789 | 790 | ||
790 | /**************************************************************/ |
791 | /**************************************************************/ |
791 | /* Transmit tx buffer via debug uart */ |
792 | /* Transmit tx buffer via debug uart */ |
792 | /**************************************************************/ |
793 | /**************************************************************/ |
793 | void UART1_Transmit(void) |
794 | void UART1_Transmit(void) |
794 | { |
795 | { |
795 | u8 tmp_tx; |
796 | u8 tmp_tx; |
796 | if(DebugUART != UART1) return; |
797 | if(DebugUART != UART1) return; |
797 | // if something has to be send and the txd fifo is not full |
798 | // if something has to be send and the txd fifo is not full |
798 | if(UART1_tx_buffer.Locked == TRUE) |
799 | if(UART1_tx_buffer.Locked == TRUE) |
799 | { |
800 | { |
800 | // while there is some space in the tx fifo |
801 | // while there is some space in the tx fifo |
801 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
802 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != SET) |
802 | { |
803 | { |
803 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
804 | tmp_tx = UART1_tx_buffer.pData[UART1_tx_buffer.Position++]; // read next byte from txd buffer |
804 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
805 | UART_SendData(UART1, tmp_tx); // put character to txd fifo |
805 | #ifdef FOLLOW_ME |
806 | #ifdef FOLLOW_ME |
806 | if(TransmitAlsoToFC) |
807 | if(TransmitAlsoToFC) |
807 | { |
808 | { |
808 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
809 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
809 | } |
810 | } |
810 | #endif |
811 | #endif |
811 | // if terminating character or end of txd buffer reached |
812 | // if terminating character or end of txd buffer reached |
812 | if((tmp_tx == '\0') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
813 | if((tmp_tx == '\0') || (UART1_tx_buffer.Position == UART1_tx_buffer.DataBytes)) |
813 | { |
814 | { |
814 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
815 | Buffer_Clear(&UART1_tx_buffer); // clear txd buffer |
815 | #ifdef FOLLOW_ME |
816 | #ifdef FOLLOW_ME |
816 | TransmitAlsoToFC = 0; |
817 | TransmitAlsoToFC = 0; |
817 | #endif |
818 | #endif |
818 | break; // end while loop |
819 | break; // end while loop |
819 | } |
820 | } |
820 | } |
821 | } |
821 | } |
822 | } |
822 | } |
823 | } |
823 | 824 | ||
824 | //$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
825 | //$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
825 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
826 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
826 | //$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C |
827 | //$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C |
827 | //http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm |
828 | //http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm |
828 | 829 | ||
829 | void CreateNmeaGGA(void) |
830 | void CreateNmeaGGA(void) |
830 | { |
831 | { |
831 | u8 array[200], i = 0, crc = 0, x; |
832 | u8 array[200], i = 0, crc = 0, x; |
832 | s32 tmp1, tmp2; |
833 | s32 tmp1, tmp2; |
833 | 834 | ||
834 | i += sprintf(array, "$GPGGA,"); |
835 | i += sprintf(array, "$GPGGA,"); |
835 | // +++++++++++++++++++++++++++++++++++++++++++ |
836 | // +++++++++++++++++++++++++++++++++++++++++++ |
836 | if(SystemTime.Valid) |
837 | if(SystemTime.Valid) |
837 | { |
838 | { |
838 | i += sprintf(&array[i], "%02d%02d%02d.%02d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec/10); |
839 | i += sprintf(&array[i], "%02d%02d%02d.%02d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec/10); |
839 | } |
840 | } |
840 | else |
841 | else |
841 | { |
842 | { |
842 | i += sprintf(&array[i], ","); |
843 | i += sprintf(&array[i], ","); |
843 | } |
844 | } |
844 | // +++++++++++++++++++++++++++++++++++++++++++ |
845 | // +++++++++++++++++++++++++++++++++++++++++++ |
845 | if(GPSData.Flags & FLAG_GPSFIXOK) |
846 | if(GPSData.Flags & FLAG_GPSFIXOK) |
846 | { |
847 | { |
847 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
848 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
848 | i += sprintf(&array[i],"%02d",(s16)tmp1); |
849 | i += sprintf(&array[i],"%02d",(s16)tmp1); |
849 | 850 | ||
850 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
851 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
851 | tmp1 *= 6; // in Minuten |
852 | tmp1 *= 6; // in Minuten |
852 | tmp2 = tmp1 / 1000000L; |
853 | tmp2 = tmp1 / 1000000L; |
853 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
854 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
854 | tmp2 = tmp1 % 1000000L; |
855 | tmp2 = tmp1 % 1000000L; |
855 | tmp2 /= 100; // zwei Stellen zu viel |
856 | tmp2 /= 100; // zwei Stellen zu viel |
856 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
857 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
857 | 858 | ||
858 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
859 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
859 | else i += sprintf(&array[i],"S,"); |
860 | else i += sprintf(&array[i],"S,"); |
860 | // +++++++++++++++++++++++++++++++++++++++++++ |
861 | // +++++++++++++++++++++++++++++++++++++++++++ |
861 | 862 | ||
862 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
863 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
863 | i += sprintf(&array[i],"%03d", (u16)tmp1); |
864 | i += sprintf(&array[i],"%03d", (u16)tmp1); |
864 | 865 | ||
865 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
866 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
866 | tmp1 *= 6; // in Minuten |
867 | tmp1 *= 6; // in Minuten |
867 | tmp2 = tmp1 / 1000000L; |
868 | tmp2 = tmp1 / 1000000L; |
868 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
869 | i += sprintf(&array[i],"%02d", (u16)tmp2); |
869 | tmp2 = tmp1 % 1000000L; |
870 | tmp2 = tmp1 % 1000000L; |
870 | tmp2 /= 100; // zwei Stellen zu viel |
871 | tmp2 /= 100; // zwei Stellen zu viel |
871 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
872 | i += sprintf(&array[i],".%04d,", (u16)tmp2); |
872 | 873 | ||
873 | 874 | ||
874 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
875 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
875 | else i += sprintf(&array[i],"W,"); |
876 | else i += sprintf(&array[i],"W,"); |
876 | i += sprintf(&array[i],"%d,",GPSData.SatFix); |
877 | i += sprintf(&array[i],"%d,",GPSData.SatFix); |
877 | i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
878 | i += sprintf(&array[i],"%d,",GPSData.NumOfSats); |
878 | i += sprintf(&array[i],"%d.%d,",(s16)(GPSData.Position_Accuracy/100),abs(GPSData.Position_Accuracy%100)); |
879 | i += sprintf(&array[i],"%d.%d,",(s16)(GPSData.Position_Accuracy/100),abs(GPSData.Position_Accuracy%100)); |
879 | // i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
880 | // i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100); |
880 | tmp1 = NaviData.Altimeter_5cm / 2; // in dm |
881 | tmp1 = NaviData.Altimeter_5cm / 2; // in dm |
881 | i += sprintf(&array[i],"%d.%d,M,",(s16)tmp1 / 10,abs((s16)tmp1 % 10)); |
882 | i += sprintf(&array[i],"%d.%d,M,",(s16)tmp1 / 10,abs((s16)tmp1 % 10)); |
882 | i += sprintf(&array[i],",,,*"); |
883 | i += sprintf(&array[i],",,,*"); |
883 | } |
884 | } |
884 | else |
885 | else |
885 | { |
886 | { |
886 | i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats); |
887 | i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats); |
887 | } |
888 | } |
888 | for(x = 1; x < i-1; x++) |
889 | for(x = 1; x < i-1; x++) |
889 | { |
890 | { |
890 | crc ^= array[x]; |
891 | crc ^= array[x]; |
891 | } |
892 | } |
892 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
893 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
893 | AddSerialData(&UART1_tx_buffer,array,i); |
894 | AddSerialData(&UART1_tx_buffer,array,i); |
894 | 895 | ||
895 | // +++++++++++++++++++++++++++++++++++++++++++ |
896 | // +++++++++++++++++++++++++++++++++++++++++++ |
896 | } |
897 | } |
897 | 898 | ||
898 | //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
899 | //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
899 | //$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP |
900 | //$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP |
900 | 901 | ||
901 | void CreateNmeaRMC(void) |
902 | void CreateNmeaRMC(void) |
902 | { |
903 | { |
903 | u8 array[200], i = 0, crc = 0, x; |
904 | u8 array[200], i = 0, crc = 0, x; |
904 | s16 tmp_int; |
905 | s16 tmp_int; |
905 | s32 tmp1, tmp2; |
906 | s32 tmp1, tmp2; |
906 | // +++++++++++++++++++++++++++++++++++++++++++ |
907 | // +++++++++++++++++++++++++++++++++++++++++++ |
907 | i += sprintf(array, "$GPRMC,"); |
908 | i += sprintf(array, "$GPRMC,"); |
908 | // +++++++++++++++++++++++++++++++++++++++++++ |
909 | // +++++++++++++++++++++++++++++++++++++++++++ |
909 | if(SystemTime.Valid) |
910 | if(SystemTime.Valid) |
910 | { |
911 | { |
911 | i += sprintf(&array[i], "%02d%02d%02d.%03d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
912 | i += sprintf(&array[i], "%02d%02d%02d.%03d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
912 | } |
913 | } |
913 | else |
914 | else |
914 | { |
915 | { |
915 | i += sprintf(&array[i], ","); |
916 | i += sprintf(&array[i], ","); |
916 | } |
917 | } |
917 | if(GPSData.Flags & FLAG_GPSFIXOK) |
918 | if(GPSData.Flags & FLAG_GPSFIXOK) |
918 | { |
919 | { |
919 | // +++++++++++++++++++++++++++++++++++++++++++ |
920 | // +++++++++++++++++++++++++++++++++++++++++++ |
920 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
921 | tmp1 = abs(GPSData.Position.Latitude)/10000000L; |
921 | i += sprintf(&array[i],"A,%02d", (s16)tmp1); // Status: A = Okay V = Warnung |
922 | i += sprintf(&array[i],"A,%02d", (s16)tmp1); // Status: A = Okay V = Warnung |
922 | 923 | ||
923 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
924 | tmp1 = abs(GPSData.Position.Latitude)%10000000L; |
924 | tmp1 *= 6; // in Minuten |
925 | tmp1 *= 6; // in Minuten |
925 | tmp2 = tmp1 / 1000000L; |
926 | tmp2 = tmp1 / 1000000L; |
926 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
927 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
927 | tmp2 = tmp1 % 1000000L; |
928 | tmp2 = tmp1 % 1000000L; |
928 | tmp2 /= 100; // zwei Stellen zu viel |
929 | tmp2 /= 100; // zwei Stellen zu viel |
929 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
930 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
930 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
931 | if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,"); |
931 | else i += sprintf(&array[i],"S,"); |
932 | else i += sprintf(&array[i],"S,"); |
932 | // +++++++++++++++++++++++++++++++++++++++++++ |
933 | // +++++++++++++++++++++++++++++++++++++++++++ |
933 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
934 | tmp1 = abs(GPSData.Position.Longitude)/10000000L; |
934 | i += sprintf(&array[i],"%03d", (s16)tmp1); |
935 | i += sprintf(&array[i],"%03d", (s16)tmp1); |
935 | 936 | ||
936 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
937 | tmp1 = abs(GPSData.Position.Longitude)%10000000L; |
937 | tmp1 *= 6; // in Minuten |
938 | tmp1 *= 6; // in Minuten |
938 | tmp2 = tmp1 / 1000000L; |
939 | tmp2 = tmp1 / 1000000L; |
939 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
940 | i += sprintf(&array[i],"%02d", (s16)tmp2); |
940 | tmp2 = tmp1 % 1000000L; |
941 | tmp2 = tmp1 % 1000000L; |
941 | tmp2 /= 100; // zwei Stellen zu viel |
942 | tmp2 /= 100; // zwei Stellen zu viel |
942 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
943 | i += sprintf(&array[i],".%04d,", (s16)tmp2); |
943 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
944 | if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,"); |
944 | else i += sprintf(&array[i],"W,"); |
945 | else i += sprintf(&array[i],"W,"); |
945 | // +++++++++++++++++++++++++++++++++++++++++++ |
946 | // +++++++++++++++++++++++++++++++++++++++++++ |
946 | tmp_int = GPSData.Speed_Ground; // in cm/sek |
947 | tmp_int = GPSData.Speed_Ground; // in cm/sek |
947 | tmp_int *= 90; |
948 | tmp_int *= 90; |
948 | tmp_int /= 463; |
949 | tmp_int /= 463; |
949 | i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten |
950 | i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten |
950 | // +++++++++++++++++++++++++++++++++++++++++++ |
951 | // +++++++++++++++++++++++++++++++++++++++++++ |
951 | i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10); |
952 | i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10); |
952 | // +++++++++++++++++++++++++++++++++++++++++++ |
953 | // +++++++++++++++++++++++++++++++++++++++++++ |
953 | if(SystemTime.Valid) |
954 | if(SystemTime.Valid) |
954 | { |
955 | { |
955 | i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year); |
956 | i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year); |
956 | } |
957 | } |
957 | else |
958 | else |
958 | { |
959 | { |
959 | i += sprintf(&array[i], ","); |
960 | i += sprintf(&array[i], ","); |
960 | } |
961 | } |
961 | // +++++++++++++++++++++++++++++++++++++++++++ |
962 | // +++++++++++++++++++++++++++++++++++++++++++ |
962 | i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
963 | i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10); |
963 | if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,"); |
964 | if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,"); |
964 | // +++++++++++++++++++++++++++++++++++++++++++ |
965 | // +++++++++++++++++++++++++++++++++++++++++++ |
965 | if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D*"); |
966 | if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D*"); |
966 | else i += sprintf(&array[i], "A*"); |
967 | else i += sprintf(&array[i], "A*"); |
967 | } |
968 | } |
968 | else // kein Satfix |
969 | else // kein Satfix |
969 | { |
970 | { |
970 | i += sprintf(&array[i], "V,,,,,,,,,,N*"); |
971 | i += sprintf(&array[i], "V,,,,,,,,,,N*"); |
971 | } |
972 | } |
972 | // +++++++++++++++++++++++++++++++++++++++++++ |
973 | // +++++++++++++++++++++++++++++++++++++++++++ |
973 | // CRC |
974 | // CRC |
974 | // +++++++++++++++++++++++++++++++++++++++++++ |
975 | // +++++++++++++++++++++++++++++++++++++++++++ |
975 | for(x=1; x<i-1; x++) |
976 | for(x=1; x<i-1; x++) |
976 | { |
977 | { |
977 | crc ^= array[x]; |
978 | crc ^= array[x]; |
978 | } |
979 | } |
979 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
980 | i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a); |
980 | // +++++++++++++++++++++++++++++++++++++++++++ |
981 | // +++++++++++++++++++++++++++++++++++++++++++ |
981 | AddSerialData(&UART1_tx_buffer,array,i); |
982 | AddSerialData(&UART1_tx_buffer,array,i); |
982 | // +++++++++++++++++++++++++++++++++++++++++++ |
983 | // +++++++++++++++++++++++++++++++++++++++++++ |
983 | /* |
984 | /* |
984 | 985 | ||
985 | 986 | ||
986 | 987 | ||
987 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
988 | GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits |
988 | GPSData.NumOfSats = UbxSol.numSV; |
989 | GPSData.NumOfSats = UbxSol.numSV; |
989 | GPSData.SatFix = UbxSol.GPSfix; |
990 | GPSData.SatFix = UbxSol.GPSfix; |
990 | GPSData.Position_Accuracy = UbxSol.PAcc; |
991 | GPSData.Position_Accuracy = UbxSol.PAcc; |
991 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
992 | GPSData.Speed_Accuracy = UbxSol.SAcc; |
992 | SetGPSTime(&SystemTime); // update system time |
993 | SetGPSTime(&SystemTime); // update system time |
993 | // NAV POSLLH |
994 | // NAV POSLLH |
994 | GPSData.Position.Status = INVALID; |
995 | GPSData.Position.Status = INVALID; |
995 | GPSData.Position.Longitude = UbxPosLlh.LON; |
996 | GPSData.Position.Longitude = UbxPosLlh.LON; |
996 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
997 | GPSData.Position.Latitude = UbxPosLlh.LAT; |
997 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
998 | GPSData.Position.Altitude = UbxPosLlh.HMSL; |
998 | GPSData.Position.Status = NEWDATA; |
999 | GPSData.Position.Status = NEWDATA; |
999 | // NAV VELNED |
1000 | // NAV VELNED |
1000 | GPSData.Speed_East = UbxVelNed.VEL_E; |
1001 | GPSData.Speed_East = UbxVelNed.VEL_E; |
1001 | GPSData.Speed_North = UbxVelNed.VEL_N; |
1002 | GPSData.Speed_North = UbxVelNed.VEL_N; |
1002 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
1003 | GPSData.Speed_Top = -UbxVelNed.VEL_D; |
1003 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
1004 | GPSData.Speed_Ground = UbxVelNed.GSpeed; |
1004 | GPSData.Heading = UbxVelNed.Heading; |
1005 | GPSData.Heading = UbxVelNed.Heading; |
1005 | SystemTime.Year = 0; |
1006 | SystemTime.Year = 0; |
1006 | SystemTime.Month = 0; |
1007 | SystemTime.Month = 0; |
1007 | SystemTime.Day = 0; |
1008 | SystemTime.Day = 0; |
1008 | SystemTime.Hour = 0; |
1009 | SystemTime.Hour = 0; |
1009 | SystemTime.Min = 0; |
1010 | SystemTime.Min = 0; |
1010 | SystemTime.Sec = 0; |
1011 | SystemTime.Sec = 0; |
1011 | SystemTime.mSec = 0; |
1012 | SystemTime.mSec = 0; |
1012 | SystemTime.Valid = 0; |
1013 | SystemTime.Valid = 0; |
1013 | 1014 | ||
1014 | FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2; |
1015 | FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2; |
1015 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
1016 | if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S |
1016 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
1017 | else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S |
1017 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
1018 | i1 = abs(GPSData.Position.Latitude)/10000000L; |
1018 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
1019 | i2 = abs(GPSData.Position.Latitude)%10000000L; |
1019 | 1020 | ||
1020 | 1021 | ||
1021 | 1022 | ||
1022 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
1023 | if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;} |
1023 | i1 *= 100; |
1024 | i1 *= 100; |
1024 | i1 += i2 / 100000; |
1025 | i1 += i2 / 100000; |
1025 | i2 = i2 % 100000; |
1026 | i2 = i2 % 100000; |
1026 | i2 /= 10; |
1027 | i2 /= 10; |
1027 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
1028 | ToFlightCtrl.Param.Byte[6] = i1 % 256; |
1028 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
1029 | ToFlightCtrl.Param.Byte[7] = i1 / 256; |
1029 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
1030 | ToFlightCtrl.Param.Byte[8] = i2 % 256; |
1030 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
1031 | ToFlightCtrl.Param.Byte[9] = i2 / 256; |
1031 | break; |
1032 | break; |
1032 | case 1: |
1033 | case 1: |
1033 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
1034 | ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID; |
1034 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
1035 | ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden |
1035 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
1036 | ToFlightCtrl.Param.Byte[1] = 8-1; // how many |
1036 | //----------------------------- |
1037 | //----------------------------- |
1037 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
1038 | if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E |
1038 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
1039 | else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S |
1039 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
1040 | i1 = abs(GPSData.Position.Longitude)/10000000L; |
1040 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
1041 | i2 = abs(GPSData.Position.Longitude)%10000000L; |
1041 | 1042 | ||
1042 | */ |
1043 | */ |
1043 | } |
1044 | } |
1044 | 1045 | ||
1045 | u16 SendTriggerPos(void) |
1046 | u16 SendTriggerPos(void) |
1046 | { |
1047 | { |
1047 | u16 sent = 0; |
1048 | u16 sent = 0; |
1048 | NaviData_Out1Trigger.Index = 18; |
1049 | NaviData_Out1Trigger.Index = 18; |
1049 | sent = MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Out1Trigger, sizeof(NaviData_Out1Trigger)) + 1; |
1050 | sent = MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Out1Trigger, sizeof(NaviData_Out1Trigger)) + 1; |
1050 | if(sent) Out1TriggerUpdateNewData = 0; |
1051 | if(sent) Out1TriggerUpdateNewData = 0; |
1051 | // BeepTime = 50; // beep |
1052 | // BeepTime = 50; // beep |
1052 | return(sent); |
1053 | return(sent); |
1053 | } |
1054 | } |
1054 | 1055 | ||
1055 | 1056 | ||
1056 | u16 TransmitNavigationData(u16 MaxBytesPerSecond, u8 clear) // returns the minumum pause time in ms |
1057 | u16 TransmitNavigationData(u16 MaxBytesPerSecond, u8 clear) // returns the minumum pause time in ms |
1057 | { |
1058 | { |
1058 | static u8 state = 0, count_flags = 2, count_target = 3, count_home = 4, count_wp = 5 , count_tiny = 6, count_fs = 7; |
1059 | static u8 state = 0, count_flags = 2, count_target = 3, count_home = 4, count_wp = 5 , count_tiny = 6, count_fs = 7; |
1059 | static u16 CRC_Home = 0, CRC_Target = 0, CRC_Flags = 0, CRC_Wp = 0, CRC_Fs = 0, crc_Tiny = 0; |
1060 | static u16 CRC_Home = 0, CRC_Target = 0, CRC_Flags = 0, CRC_Wp = 0, CRC_Fs = 0, crc_Tiny = 0; |
1060 | u16 pause, sent = 0, crc_home, crc_target, crc_flags, crc_wp, crc_fs; |
1061 | u16 pause, sent = 0, crc_home, crc_target, crc_flags, crc_wp, crc_fs; |
1061 | 1062 | ||
1062 | if(clear) |
1063 | if(clear) |
1063 | { |
1064 | { |
1064 | state = 0; |
1065 | state = 0; |
1065 | CRC_Home++; |
1066 | CRC_Home++; |
1066 | CRC_Target++; |
1067 | CRC_Target++; |
1067 | CRC_Flags++; |
1068 | CRC_Flags++; |
1068 | CRC_Wp++; |
1069 | CRC_Wp++; |
1069 | CRC_Fs++; |
1070 | CRC_Fs++; |
1070 | if(ErrorCode) NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; |
1071 | if(ErrorCode) NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; |
1071 | else NaviData_Flags.SpeakHoTT = SPEAK_CONNECTED; |
1072 | else NaviData_Flags.SpeakHoTT = SPEAK_CONNECTED; |
1072 | NaviData_Flags_SpeakHoTT_Processed = 0; // don't overwrite in SPI.C |
1073 | NaviData_Flags_SpeakHoTT_Processed = 0; // don't overwrite in SPI.C |
1073 | return(1); |
1074 | return(1); |
1074 | } |
1075 | } |
1075 | while(!sent) |
1076 | while(!sent) |
1076 | { |
1077 | { |
1077 | // 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 |
1078 | // 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 |
1078 | // sent += SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
1079 | // sent += SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
1079 | 1080 | ||
1080 | switch(state++) |
1081 | switch(state++) |
1081 | { |
1082 | { |
1082 | case 0: |
1083 | case 0: |
1083 | case 6: |
1084 | case 6: |
1084 | case 5: |
1085 | case 5: |
1085 | // belegt 35 ASCII-Zeichen |
1086 | // belegt 35 ASCII-Zeichen |
1086 | NaviData_Flags.Index = 11; |
1087 | NaviData_Flags.Index = 11; |
1087 | NaviData_Flags.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1088 | NaviData_Flags.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1088 | NaviData_Flags.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1089 | NaviData_Flags.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1089 | NaviData_Flags.Altimeter_5cm = NaviData.Altimeter_5cm; |
1090 | NaviData_Flags.Altimeter_5cm = NaviData.Altimeter_5cm; |
1090 | NaviData_Flags.GroundSpeed = NaviData.GroundSpeed / 10; |
1091 | NaviData_Flags.GroundSpeed = NaviData.GroundSpeed / 10; |
1091 | NaviData_Flags.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1092 | NaviData_Flags.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1092 | NaviData_Flags.OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2); |
1093 | NaviData_Flags.OSDStatusFlags2 = (FC.StatusFlags & ~OSD_FLAG_MASK1) | (FC.StatusFlags2 & ~OSD_FLAG_MASK2); |
1093 | NaviData_Flags.NCFlags = NaviData.NCFlags; |
1094 | NaviData_Flags.NCFlags = NaviData.NCFlags; |
1094 | NaviData_Flags.Errorcode = ErrorCode; |
1095 | NaviData_Flags.Errorcode = ErrorCode; |
1095 | NaviData_Flags.ReserveFlags = 0; |
1096 | NaviData_Flags.ReserveFlags = 0; |
1096 | //NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; -> in SPI.c |
1097 | //NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; -> in SPI.c |
1097 | NaviData_Flags.VarioCharacter = FromFC_VarioCharacter; |
1098 | NaviData_Flags.VarioCharacter = FromFC_VarioCharacter; |
1098 | NaviData_Flags.GPS_ModeCharacter = NC_GPS_ModeCharacter; |
1099 | NaviData_Flags.GPS_ModeCharacter = NC_GPS_ModeCharacter; |
1099 | NaviData_Flags.BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
1100 | NaviData_Flags.BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
1100 | crc_flags = CRC16((unsigned char*)(&NaviData_Flags.OSDStatusFlags2), sizeof(NaviData_Flags) - START_PAYLOAD_DATA); |
1101 | crc_flags = CRC16((unsigned char*)(&NaviData_Flags.OSDStatusFlags2), sizeof(NaviData_Flags) - START_PAYLOAD_DATA); |
1101 | if((crc_flags != CRC_Flags) || (--count_flags == 0)) |
1102 | if((crc_flags != CRC_Flags) || (--count_flags == 0)) |
1102 | { |
1103 | { |
1103 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Flags, sizeof(NaviData_Flags)) + 1; |
1104 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Flags, sizeof(NaviData_Flags)) + 1; |
1104 | CRC_Flags = crc_flags; |
1105 | CRC_Flags = crc_flags; |
1105 | count_flags = 11*2; |
1106 | count_flags = 11*2; |
1106 | } |
1107 | } |
1107 | NaviData_Flags_SpeakHoTT_Processed = 1; // allow update in SPI now |
1108 | NaviData_Flags_SpeakHoTT_Processed = 1; // allow update in SPI now |
1108 | break; |
1109 | break; |
1109 | case 1: |
1110 | case 1: |
1110 | case 7: |
1111 | case 7: |
1111 | // belegt 43 ASCII-Zeichen |
1112 | // belegt 43 ASCII-Zeichen |
1112 | NaviData_Target.Index = 12; |
1113 | NaviData_Target.Index = 12; |
1113 | NaviData_Target.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1114 | NaviData_Target.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1114 | NaviData_Target.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1115 | NaviData_Target.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1115 | NaviData_Target.Altimeter_5cm = NaviData.Altimeter_5cm; |
1116 | NaviData_Target.Altimeter_5cm = NaviData.Altimeter_5cm; |
1116 | NaviData_Target.GroundSpeed = NaviData.GroundSpeed / 10; |
1117 | NaviData_Target.GroundSpeed = NaviData.GroundSpeed / 10; |
1117 | NaviData_Target.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1118 | NaviData_Target.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1118 | NaviData_Target.TargetLongitude = NaviData.TargetPosition.Longitude; |
1119 | NaviData_Target.TargetLongitude = NaviData.TargetPosition.Longitude; |
1119 | NaviData_Target.TargetLatitude = NaviData.TargetPosition.Latitude; |
1120 | NaviData_Target.TargetLatitude = NaviData.TargetPosition.Latitude; |
1120 | NaviData_Target.TargetAltitude = NaviData.TargetPosition.Altitude; |
1121 | NaviData_Target.TargetAltitude = NaviData.TargetPosition.Altitude; |
1121 | NaviData_Target.RC_Quality = NaviData.RC_Quality; |
1122 | NaviData_Target.RC_Quality = NaviData.RC_Quality; |
1122 | crc_target = CRC16((unsigned char*)(&NaviData_Target.TargetLongitude), sizeof(NaviData_Target) - START_PAYLOAD_DATA); |
1123 | crc_target = CRC16((unsigned char*)(&NaviData_Target.TargetLongitude), sizeof(NaviData_Target) - START_PAYLOAD_DATA); |
1123 | if((crc_target != CRC_Target) || (--count_target == 0)) |
1124 | if((crc_target != CRC_Target) || (--count_target == 0)) |
1124 | { |
1125 | { |
1125 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Target, sizeof(NaviData_Target)) + 1; |
1126 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Target, sizeof(NaviData_Target)) + 1; |
1126 | CRC_Target = crc_target; |
1127 | CRC_Target = crc_target; |
1127 | count_target = 10*2; |
1128 | count_target = 10*2; |
1128 | } |
1129 | } |
1129 | break; |
1130 | break; |
1130 | case 2: |
1131 | case 2: |
1131 | case 8: |
1132 | case 8: |
1132 | // belegt 31 ASCII-Zeichen |
1133 | // belegt 31 ASCII-Zeichen |
1133 | NaviData_WP.Index = 15; |
1134 | NaviData_WP.Index = 15; |
1134 | NaviData_WP.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1135 | NaviData_WP.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1135 | NaviData_WP.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1136 | NaviData_WP.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1136 | NaviData_WP.Altimeter_5cm = NaviData.Altimeter_5cm; |
1137 | NaviData_WP.Altimeter_5cm = NaviData.Altimeter_5cm; |
1137 | NaviData_WP.GroundSpeed = NaviData.GroundSpeed / 10; |
1138 | NaviData_WP.GroundSpeed = NaviData.GroundSpeed / 10; |
1138 | NaviData_WP.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1139 | NaviData_WP.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1139 | NaviData_WP.WaypointIndex = NaviData.WaypointIndex; |
1140 | NaviData_WP.WaypointIndex = NaviData.WaypointIndex; |
1140 | NaviData_WP.WaypointNumber = NaviData.WaypointNumber; |
1141 | NaviData_WP.WaypointNumber = NaviData.WaypointNumber; |
1141 | NaviData_WP.TargetHoldTime = NaviData.TargetHoldTime; |
1142 | NaviData_WP.TargetHoldTime = NaviData.TargetHoldTime; |
1142 | // NaviData_WP.WP_Eventchannel = FC_WP_EventChannel; -> happends already in SPI.c |
1143 | // NaviData_WP.WP_Eventchannel = FC_WP_EventChannel; -> happends already in SPI.c |
1143 | crc_wp = CRC16((unsigned char*)(&NaviData_WP.WaypointIndex), sizeof(NaviData_WP) - START_PAYLOAD_DATA); // update crc |
1144 | crc_wp = CRC16((unsigned char*)(&NaviData_WP.WaypointIndex), sizeof(NaviData_WP) - START_PAYLOAD_DATA); // update crc |
1144 | if((crc_wp != CRC_Wp) || (--count_wp == 0)) |
1145 | if((crc_wp != CRC_Wp) || (--count_wp == 0)) |
1145 | { |
1146 | { |
1146 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_WP, sizeof(NaviData_WP)) + 1; |
1147 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_WP, sizeof(NaviData_WP)) + 1; |
1147 | CRC_Wp = crc_wp; |
1148 | CRC_Wp = crc_wp; |
1148 | count_wp = 12*2; |
1149 | count_wp = 12*2; |
1149 | } |
1150 | } |
1150 | break; |
1151 | break; |
1151 | case 3: |
1152 | case 3: |
1152 | case 9: |
1153 | case 9: |
1153 | // 35 ASCII-Zeichen |
1154 | // 35 ASCII-Zeichen |
1154 | NaviData_Failsafe.Index = 17; |
1155 | NaviData_Failsafe.Index = 17; |
1155 | NaviData_Failsafe.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1156 | NaviData_Failsafe.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1156 | NaviData_Failsafe.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1157 | NaviData_Failsafe.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1157 | NaviData_Failsafe.Altimeter_5cm = NaviData.Altimeter_5cm; |
1158 | NaviData_Failsafe.Altimeter_5cm = NaviData.Altimeter_5cm; |
1158 | NaviData_Failsafe.GroundSpeed = NaviData.GroundSpeed / 10; |
1159 | NaviData_Failsafe.GroundSpeed = NaviData.GroundSpeed / 10; |
1159 | NaviData_Failsafe.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1160 | NaviData_Failsafe.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1160 | NaviData_Failsafe.Longitude = GPS_FailsafePosition.Longitude; |
1161 | NaviData_Failsafe.Longitude = GPS_FailsafePosition.Longitude; |
1161 | NaviData_Failsafe.Latitude = GPS_FailsafePosition.Latitude; |
1162 | NaviData_Failsafe.Latitude = GPS_FailsafePosition.Latitude; |
1162 | crc_fs = CRC16((unsigned char*)(&NaviData_Failsafe.Longitude), sizeof(NaviData_Pos_t) - START_PAYLOAD_DATA); // update crc for the structure |
1163 | crc_fs = CRC16((unsigned char*)(&NaviData_Failsafe.Longitude), sizeof(NaviData_Pos_t) - START_PAYLOAD_DATA); // update crc for the structure |
1163 | if((crc_fs != CRC_Fs) || (--count_fs == 0)) |
1164 | if((crc_fs != CRC_Fs) || (--count_fs == 0)) |
1164 | { |
1165 | { |
1165 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Failsafe, sizeof(NaviData_Failsafe)) + 1; |
1166 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Failsafe, sizeof(NaviData_Failsafe)) + 1; |
1166 | CRC_Fs = crc_fs; |
1167 | CRC_Fs = crc_fs; |
1167 | count_fs = 20*2; |
1168 | count_fs = 20*2; |
1168 | } |
1169 | } |
1169 | break; |
1170 | break; |
1170 | case 4: |
1171 | case 4: |
1171 | case 10: |
1172 | case 10: |
1172 | // belegt 43 ASCII-Zeichen |
1173 | // belegt 43 ASCII-Zeichen |
1173 | NaviData_Home.Index = 13; |
1174 | NaviData_Home.Index = 13; |
1174 | NaviData_Home.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1175 | NaviData_Home.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1175 | NaviData_Home.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1176 | NaviData_Home.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1176 | NaviData_Home.Altimeter_5cm = NaviData.Altimeter_5cm; |
1177 | NaviData_Home.Altimeter_5cm = NaviData.Altimeter_5cm; |
1177 | NaviData_Home.GroundSpeed = NaviData.GroundSpeed / 10; |
1178 | NaviData_Home.GroundSpeed = NaviData.GroundSpeed / 10; |
1178 | NaviData_Home.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1179 | NaviData_Home.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1179 | NaviData_Home.HomeLongitude = NaviData.HomePosition.Longitude; |
1180 | NaviData_Home.HomeLongitude = NaviData.HomePosition.Longitude; |
1180 | NaviData_Home.HomeLatitude = NaviData.HomePosition.Latitude; |
1181 | NaviData_Home.HomeLatitude = NaviData.HomePosition.Latitude; |
1181 | NaviData_Home.HomeAltitude = NaviData.HomePosition.Altitude; |
1182 | NaviData_Home.HomeAltitude = NaviData.HomePosition.Altitude; |
1182 | NaviData_Home.WP_OperatingRadius = MaxWP_Radius_in_m; |
1183 | NaviData_Home.WP_OperatingRadius = MaxWP_Radius_in_m; |
1183 | crc_home = CRC16((unsigned char*)(&NaviData_Home.HomeLongitude), sizeof(NaviData_Home_t) - START_PAYLOAD_DATA); // update crc for the structure |
1184 | crc_home = CRC16((unsigned char*)(&NaviData_Home.HomeLongitude), sizeof(NaviData_Home_t) - START_PAYLOAD_DATA); // update crc for the structure |
1184 | if((crc_home != CRC_Home) || (--count_home == 0)) |
1185 | if((crc_home != CRC_Home) || (--count_home == 0)) |
1185 | { |
1186 | { |
1186 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Home, sizeof(NaviData_Home)) + 1; |
1187 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Home, sizeof(NaviData_Home)) + 1; |
1187 | CRC_Home = crc_home; |
1188 | CRC_Home = crc_home; |
1188 | count_home = 25; |
1189 | count_home = 25; |
1189 | } |
1190 | } |
1190 | break; |
1191 | break; |
1191 | case 11: |
1192 | case 11: |
1192 | // belegt 39 ASCII-Zeichen |
1193 | // belegt 39 ASCII-Zeichen |
1193 | NaviData_Deviation.Index = 14; |
1194 | NaviData_Deviation.Index = 14; |
1194 | NaviData_Deviation.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1195 | NaviData_Deviation.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1195 | NaviData_Deviation.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1196 | NaviData_Deviation.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1196 | NaviData_Deviation.Altimeter_5cm = NaviData.Altimeter_5cm; |
1197 | NaviData_Deviation.Altimeter_5cm = NaviData.Altimeter_5cm; |
1197 | NaviData_Deviation.GroundSpeed = NaviData.GroundSpeed / 10; |
1198 | NaviData_Deviation.GroundSpeed = NaviData.GroundSpeed / 10; |
1198 | NaviData_Deviation.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1199 | NaviData_Deviation.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1199 | NaviData_Deviation.FlyingTime = NaviData.FlyingTime; |
1200 | NaviData_Deviation.FlyingTime = NaviData.FlyingTime; |
1200 | NaviData_Deviation.DistanceToHome = NaviData.HomePositionDeviation.Distance_dm; |
1201 | NaviData_Deviation.DistanceToHome = NaviData.HomePositionDeviation.Distance_dm; |
1201 | NaviData_Deviation.HeadingToHome = NaviData.HomePositionDeviation.Bearing/2; |
1202 | NaviData_Deviation.HeadingToHome = NaviData.HomePositionDeviation.Bearing/2; |
1202 | NaviData_Deviation.DistanceToTarget = NaviData.TargetPositionDeviation.Distance_dm; |
1203 | NaviData_Deviation.DistanceToTarget = NaviData.TargetPositionDeviation.Distance_dm; |
1203 | NaviData_Deviation.HeadingToTarget = NaviData.TargetPositionDeviation.Bearing/2; |
1204 | NaviData_Deviation.HeadingToTarget = NaviData.TargetPositionDeviation.Bearing/2; |
1204 | NaviData_Deviation.AngleNick = NaviData.AngleNick; |
1205 | NaviData_Deviation.AngleNick = NaviData.AngleNick; |
1205 | NaviData_Deviation.AngleRoll = NaviData.AngleRoll; |
1206 | NaviData_Deviation.AngleRoll = NaviData.AngleRoll; |
1206 | NaviData_Deviation.SatsInUse = NaviData.SatsInUse; |
1207 | NaviData_Deviation.SatsInUse = NaviData.SatsInUse; |
1207 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Deviation, sizeof(NaviData_Deviation)) + 1; |
1208 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Deviation, sizeof(NaviData_Deviation)) + 1; |
1208 | break; |
1209 | break; |
1209 | case 12: |
1210 | case 12: |
1210 | // belegt 43 ASCII-Zeichen |
1211 | // belegt 43 ASCII-Zeichen |
1211 | NaviData_Volatile.Index = 16; |
1212 | NaviData_Volatile.Index = 16; |
1212 | NaviData_Volatile.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1213 | NaviData_Volatile.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1213 | NaviData_Volatile.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1214 | NaviData_Volatile.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1214 | NaviData_Volatile.Altimeter_5cm = NaviData.Altimeter_5cm; |
1215 | NaviData_Volatile.Altimeter_5cm = NaviData.Altimeter_5cm; |
1215 | NaviData_Volatile.GroundSpeed = NaviData.GroundSpeed / 10; |
1216 | NaviData_Volatile.GroundSpeed = NaviData.GroundSpeed / 10; |
1216 | NaviData_Volatile.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1217 | NaviData_Volatile.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1217 | NaviData_Volatile.UBat = FC.BAT_Voltage; |
1218 | NaviData_Volatile.UBat = FC.BAT_Voltage; |
1218 | NaviData_Volatile.Current = NaviData.Current; |
1219 | NaviData_Volatile.Current = NaviData.Current; |
1219 | NaviData_Volatile.UsedCapacity = NaviData.UsedCapacity; |
1220 | NaviData_Volatile.UsedCapacity = NaviData.UsedCapacity; |
1220 | NaviData_Volatile.Variometer = NaviData.Variometer; |
1221 | NaviData_Volatile.Variometer = NaviData.Variometer; |
1221 | NaviData_Volatile.Heading = NaviData.Heading / 2; |
1222 | NaviData_Volatile.Heading = NaviData.Heading / 2; |
1222 | NaviData_Volatile.CompassHeading = NaviData.CompassHeading / 2; |
1223 | NaviData_Volatile.CompassHeading = NaviData.CompassHeading / 2; |
1223 | NaviData_Volatile.Gas = NaviData.Gas; |
1224 | NaviData_Volatile.Gas = NaviData.Gas; |
1224 | NaviData_Volatile.SetpointAltitude = NaviData.SetpointAltitude; |
1225 | NaviData_Volatile.SetpointAltitude = NaviData.SetpointAltitude; |
1225 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Volatile, sizeof(NaviData_Volatile)) + 1; |
1226 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Volatile, sizeof(NaviData_Volatile)) + 1; |
1226 | break; |
1227 | break; |
1227 | case 13: |
1228 | case 13: |
1228 | // belegt 27 ASCII-Zeichen |
1229 | // belegt 27 ASCII-Zeichen |
1229 | NaviData_Tiny.Index = 10; |
1230 | NaviData_Tiny.Index = 10; |
1230 | NaviData_Tiny.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1231 | NaviData_Tiny.ActualLongitude = NaviData.CurrentPosition.Longitude; |
1231 | NaviData_Tiny.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1232 | NaviData_Tiny.ActualLatitude = NaviData.CurrentPosition.Latitude; |
1232 | NaviData_Tiny.Altimeter_5cm = NaviData.Altimeter_5cm; |
1233 | NaviData_Tiny.Altimeter_5cm = NaviData.Altimeter_5cm; |
1233 | NaviData_Tiny.GroundSpeed = NaviData.GroundSpeed / 10; |
1234 | NaviData_Tiny.GroundSpeed = NaviData.GroundSpeed / 10; |
1234 | NaviData_Tiny.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1235 | NaviData_Tiny.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
1235 | NaviData_Tiny.CamCtrlChar = CamCtrlCharacter; |
1236 | NaviData_Tiny.CamCtrlChar = CamCtrlCharacter; |
1236 | if((crc_Tiny != NaviData_Tiny.CamCtrlChar) || (--count_tiny == 0)) |
1237 | if((crc_Tiny != NaviData_Tiny.CamCtrlChar) || (--count_tiny == 0)) |
1237 | { |
1238 | { |
1238 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Tiny, sizeof(NaviData_Tiny)) + 1; |
1239 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Tiny, sizeof(NaviData_Tiny)) + 1; |
1239 | count_tiny = 200; // just to make sure that it comes sometimes |
1240 | count_tiny = 200; // just to make sure that it comes sometimes |
1240 | crc_Tiny = NaviData_Tiny.CamCtrlChar; |
1241 | crc_Tiny = NaviData_Tiny.CamCtrlChar; |
1241 | } |
1242 | } |
1242 | break; |
1243 | break; |
1243 | default: state = 0; |
1244 | default: state = 0; |
1244 | break; |
1245 | break; |
1245 | } |
1246 | } |
1246 | } |
1247 | } |
1247 | pause = (sent * 1000) / MaxBytesPerSecond; |
1248 | pause = (sent * 1000) / MaxBytesPerSecond; |
1248 | 1249 | ||
1249 | UART1_Request_NaviData = FALSE; |
1250 | UART1_Request_NaviData = FALSE; |
1250 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
1251 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
1251 | return(pause); |
1252 | return(pause); |
1252 | // Clear at timeout: |
1253 | // Clear at timeout: |
1253 | // NaviData_WP.WP_Eventchannel |
1254 | // NaviData_WP.WP_Eventchannel |
1254 | } |
1255 | } |
1255 | 1256 | ||
1256 | /**************************************************************/ |
1257 | /**************************************************************/ |
1257 | /* Send the answers to incomming commands at the debug uart */ |
1258 | /* Send the answers to incomming commands at the debug uart */ |
1258 | /**************************************************************/ |
1259 | /**************************************************************/ |
1259 | void UART1_TransmitTxData(void) |
1260 | void UART1_TransmitTxData(void) |
1260 | { |
1261 | { |
1261 | static u8 motorindex1 = 255, motorindex2 = 0; |
1262 | static u8 motorindex1 = 255, motorindex2 = 0; |
1262 | if(DebugUART != UART1) return; |
1263 | if(DebugUART != UART1) return; |
1263 | 1264 | ||
1264 | if(CheckDelay(UART1_AboTimeOut)) |
1265 | if(CheckDelay(UART1_AboTimeOut)) |
1265 | { |
1266 | { |
1266 | UART1_DebugData_Interval = 0; |
1267 | UART1_DebugData_Interval = 0; |
1267 | UART1_NaviData_Interval = 0; |
1268 | UART1_NaviData_Interval = 0; |
1268 | UART1_NaviData_MaxBytes = 0; |
1269 | UART1_NaviData_MaxBytes = 0; |
1269 | UART1_Data3D_Interval = 0; |
1270 | UART1_Data3D_Interval = 0; |
1270 | UART1_Display_Interval = 0; |
1271 | UART1_Display_Interval = 0; |
1271 | UART1_MotorData_Interval = 0; |
1272 | UART1_MotorData_Interval = 0; |
1272 | UART1_NaviData_Timer = SetDelay(500); |
1273 | UART1_NaviData_Timer = SetDelay(500); |
1273 | UART1_AboTimeOut = SetDelay(100); |
1274 | UART1_AboTimeOut = SetDelay(100); |
1274 | TransmitNavigationData(0,1); // clear the CRC values |
1275 | TransmitNavigationData(0,1); // clear the CRC values |
1275 | } |
1276 | } |
1276 | //if(UART1_NaviData_MaxBytes > 150) UART1_NaviData_MaxBytes = 150; |
1277 | //if(UART1_NaviData_MaxBytes > 150) UART1_NaviData_MaxBytes = 150; |
1277 | //UART1_NaviData_MaxBytes = 150; |
1278 | //UART1_NaviData_MaxBytes = 150; |
1278 | /* |
1279 | /* |
1279 | #define CHK_MIN_INTERVAL(a,b) {if(a && a < b) a = b;} |
1280 | #define CHK_MIN_INTERVAL(a,b) {if(a && a < b) a = b;} |
1280 | UART1_NaviData_Interval = 500; |
1281 | UART1_NaviData_Interval = 500; |
1281 | CHK_MIN_INTERVAL(UART1_DebugData_Interval,500); |
1282 | CHK_MIN_INTERVAL(UART1_DebugData_Interval,500); |
1282 | CHK_MIN_INTERVAL(UART1_NaviData_Interval,1000); |
1283 | CHK_MIN_INTERVAL(UART1_NaviData_Interval,1000); |
1283 | CHK_MIN_INTERVAL(UART1_Data3D_Interval,255); |
1284 | CHK_MIN_INTERVAL(UART1_Data3D_Interval,255); |
1284 | CHK_MIN_INTERVAL(UART1_Display_Interval,1500); |
1285 | CHK_MIN_INTERVAL(UART1_Display_Interval,1500); |
1285 | CHK_MIN_INTERVAL(UART1_MotorData_Interval,750); |
1286 | CHK_MIN_INTERVAL(UART1_MotorData_Interval,750); |
1286 | */ |
1287 | */ |
1287 | UART1_Transmit(); // output pending bytes in tx buffer |
1288 | UART1_Transmit(); // output pending bytes in tx buffer |
1288 | if((UART1_tx_buffer.Locked == TRUE)) return; |
1289 | if((UART1_tx_buffer.Locked == TRUE)) return; |
1289 | 1290 | ||
1290 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
1291 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
1291 | { |
1292 | { |
1292 | s16 ParamValue; |
1293 | s16 ParamValue; |
1293 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
1294 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
1294 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
1295 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
1295 | UART1_Request_Parameter = FALSE; |
1296 | UART1_Request_Parameter = FALSE; |
1296 | } |
1297 | } |
1297 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
1298 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
1298 | { |
1299 | { |
1299 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
1300 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
1300 | Echo = 0; // reset echo value |
1301 | Echo = 0; // reset echo value |
1301 | UART1_Request_Echo = FALSE; |
1302 | UART1_Request_Echo = FALSE; |
1302 | } |
1303 | } |
1303 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
1304 | else if(UART1_Request_FTP && (UART1_tx_buffer.Locked == FALSE)) |
1304 | { |
1305 | { |
1305 | u8 errorcode = FTP_ERROR_NONE; |
1306 | u8 errorcode = FTP_ERROR_NONE; |
1306 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
1307 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) errorcode = FTP_ERROR_MOTOR_RUN; |
1307 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
1308 | else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD; |
1308 | 1309 | ||
1309 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
1310 | if (!errorcode) CheckFTPCommand(UART1_Request_FTP); |
1310 | else |
1311 | else |
1311 | { |
1312 | { |
1312 | u8 cmd = FTP_CMD_ERROR; |
1313 | u8 cmd = FTP_CMD_ERROR; |
1313 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
1314 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1); |
1314 | } |
1315 | } |
1315 | 1316 | ||
1316 | UART1_Request_FTP = FALSE; |
1317 | UART1_Request_FTP = FALSE; |
1317 | } |
1318 | } |
1318 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
1319 | else if((UART1_Request_WritePoint!= 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
1319 | { |
1320 | { |
1320 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
1321 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'W', NC_ADDRESS, 1, &UART1_Request_WritePoint, sizeof(UART1_Request_WritePoint)); |
1321 | UART1_Request_WritePoint = 0xFF; |
1322 | UART1_Request_WritePoint = 0xFF; |
1322 | } |
1323 | } |
1323 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
1324 | else if((UART1_Request_ReadPoint) && (UART1_tx_buffer.Locked == FALSE)) |
1324 | { |
1325 | { |
1325 | u8 PointCount = PointList_GetCount(); |
1326 | u8 PointCount = PointList_GetCount(); |
1326 | if (UART1_Request_ReadPoint <= PointCount) |
1327 | if (UART1_Request_ReadPoint <= PointCount) |
1327 | { |
1328 | { |
1328 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
1329 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'X', NC_ADDRESS, 3, &PointCount, 1, &UART1_Request_ReadPoint, 1, PointList_GetAt(UART1_Request_ReadPoint), sizeof(Point_t)); |
1329 | } |
1330 | } |
1330 | else |
1331 | else |
1331 | { |
1332 | { |
1332 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
1333 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'X', NC_ADDRESS, 1, &PointCount, sizeof(PointCount)); |
1333 | } |
1334 | } |
1334 | UART1_Request_ReadPoint = 0; |
1335 | UART1_Request_ReadPoint = 0; |
1335 | } |
1336 | } |
1336 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
1337 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
1337 | { |
1338 | { |
1338 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
1339 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
1339 | UART1_Request_DebugLabel = 0xFF; |
1340 | UART1_Request_DebugLabel = 0xFF; |
1340 | } |
1341 | } |
1341 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1342 | else if(UART1_ExternalControlConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1342 | { |
1343 | { |
1343 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
1344 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1,(u8 *)&UART1_ExternalControlConfirmFrame, sizeof(UART1_ExternalControlConfirmFrame)); |
1344 | UART1_ExternalControlConfirmFrame = 0; |
1345 | UART1_ExternalControlConfirmFrame = 0; |
1345 | } |
1346 | } |
1346 | else |
1347 | else |
1347 | 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 |
1348 | 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 |
1348 | { |
1349 | { |
1349 | //sent += |
1350 | //sent += |
1350 | SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
1351 | SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
1351 | } |
1352 | } |
1352 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
1353 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
1353 | { |
1354 | { |
1354 | u16 time = 0; |
1355 | u16 time = 0; |
1355 | //UART1_NaviData_MaxBytes = 250; |
1356 | //UART1_NaviData_MaxBytes = 250; |
1356 | if(UART1_NaviData_MaxBytes == 0) // Transmit the big NC Data frame |
1357 | if(UART1_NaviData_MaxBytes == 0) // Transmit the big NC Data frame |
1357 | { |
1358 | { |
1358 | NaviData.Errorcode = ErrorCode; |
1359 | NaviData.Errorcode = ErrorCode; |
1359 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
1360 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
1360 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
1361 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
1361 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
1362 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
1362 | } |
1363 | } |
1363 | else |
1364 | else |
1364 | if(CheckDelay(UART1_NaviData_Timer)) |
1365 | if(CheckDelay(UART1_NaviData_Timer)) |
1365 | { |
1366 | { |
1366 | // Wert = 50 -> Sekunden laufen in 2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 3-4s) |
1367 | // Wert = 50 -> Sekunden laufen in 2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 3-4s) |
1367 | // Wert = 100 -> Sekunden laufen in 1-2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 2s) |
1368 | // Wert = 100 -> Sekunden laufen in 1-2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 2s) |
1368 | // Wert = 150 -> Sekunden laufen flüssig (im Wegpunkteflug mit aktivem Countdown und gleichzeitig Target verschieben manchmal in 2s) |
1369 | // Wert = 150 -> Sekunden laufen flüssig (im Wegpunkteflug mit aktivem Countdown und gleichzeitig Target verschieben manchmal in 2s) |
1369 | // Wert = 200 -> Sekunden laufen flüssig |
1370 | // Wert = 200 -> Sekunden laufen flüssig |
1370 | // Wert >= 250 -> optimal |
1371 | // Wert >= 250 -> optimal |
1371 | //UART1_NaviData_MaxBytes = 45; |
1372 | //UART1_NaviData_MaxBytes = 45; |
1372 | time = TransmitNavigationData(UART1_NaviData_MaxBytes,0); |
1373 | time = TransmitNavigationData(UART1_NaviData_MaxBytes,0); |
1373 | if(UART1_NaviData_Interval > time) time = UART1_NaviData_Interval; |
1374 | if(UART1_NaviData_Interval > time) time = UART1_NaviData_Interval; |
1374 | UART1_NaviData_Timer = SetDelay(time); |
1375 | UART1_NaviData_Timer = SetDelay(time); |
1375 | } |
1376 | } |
1376 | UART1_Request_NaviData = FALSE; |
1377 | UART1_Request_NaviData = FALSE; |
1377 | } |
1378 | } |
1378 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
1379 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
1379 | { |
1380 | { |
1380 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
1381 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
1381 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
1382 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
1382 | UART1_Request_DebugData = FALSE; |
1383 | UART1_Request_DebugData = FALSE; |
1383 | } |
1384 | } |
1384 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
1385 | else if((( (UART1_Data3D_Interval > 0) && CheckDelay(UART1_Data3D_Timer) ) || UART1_Request_Data3D) && (UART1_tx_buffer.Locked == FALSE)) |
1385 | { |
1386 | { |
1386 | Data3D.StickNick = FC.StickNick; |
1387 | Data3D.StickNick = FC.StickNick; |
1387 | Data3D.StickRoll = FC.StickRoll; |
1388 | Data3D.StickRoll = FC.StickRoll; |
1388 | Data3D.StickYaw = FC.StickYaw; |
1389 | Data3D.StickYaw = FC.StickYaw; |
1389 | Data3D.StickGas = FC.StickGas; |
1390 | Data3D.StickGas = FC.StickGas; |
1390 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
1391 | Data3D.AngleNick = FromFlightCtrl.AngleNick; // in 0.1 deg |
1391 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
1392 | Data3D.AngleRoll = FromFlightCtrl.AngleRoll; // in 0.1 deg |
1392 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
1393 | Data3D.Heading = FromFlightCtrl.GyroHeading; // in 0.1 deg |
1393 | Data3D.Altimeter_5cm = FC.Altimeter_5cm; // in 5cm -> 20 = 1m |
1394 | Data3D.Altimeter_5cm = FC.Altimeter_5cm; // in 5cm -> 20 = 1m |
1394 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
1395 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
1395 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
1396 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
1396 | UART1_Request_Data3D = FALSE; |
1397 | UART1_Request_Data3D = FALSE; |
1397 | } |
1398 | } |
1398 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
1399 | else if((((UART1_MotorData_Interval > 0) && CheckDelay(UART1_MotorData_Timer) ) || UART1_Request_MotorData) && (UART1_tx_buffer.Locked == FALSE)) |
1399 | { |
1400 | { |
1400 | do |
1401 | do |
1401 | { |
1402 | { |
1402 | motorindex1++; |
1403 | motorindex1++; |
1403 | motorindex1%=12; |
1404 | motorindex1%=12; |
1404 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
1405 | if(!motorindex1) {motorindex2++; motorindex2 %= 12;}; |
1405 | if(motorindex1 == motorindex2) break; |
1406 | if(motorindex1 == motorindex2) break; |
1406 | } |
1407 | } |
1407 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
1408 | while((Motor[motorindex1].State & 0x80) != 0x80); // skip unused Motors |
1408 | 1409 | ||
1409 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
1410 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'K', NC_ADDRESS, 2, &motorindex1, sizeof(motorindex1),(u8 *)&Motor[motorindex1], sizeof(Motor_t)); |
1410 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
1411 | UART1_MotorData_Timer = SetDelay(UART1_MotorData_Interval); |
1411 | UART1_Request_MotorData = FALSE; |
1412 | UART1_Request_MotorData = FALSE; |
1412 | } |
1413 | } |
1413 | else if(UART1_Request_WPLStore) |
1414 | else if(UART1_Request_WPLStore) |
1414 | { |
1415 | { |
1415 | /* |
1416 | /* |
1416 | s8 txt[50]; |
1417 | s8 txt[50]; |
1417 | 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); |
1418 | 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); |
1418 | UART1_PutString(txt); |
1419 | UART1_PutString(txt); |
1419 | */ |
1420 | */ |
1420 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'I', NC_ADDRESS, 1,(u8 *)&(WPL_Answer), sizeof(WPL_Answer_t)); |
1421 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'I', NC_ADDRESS, 1,(u8 *)&(WPL_Answer), sizeof(WPL_Answer_t)); |
1421 | UART1_Request_WPLStore = FALSE; |
1422 | UART1_Request_WPLStore = FALSE; |
1422 | } |
1423 | } |
1423 | else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE)) |
1424 | else if((((NMEA_Interval > 0) && CheckDelay(NMEA_Timer))) && (UART1_tx_buffer.Locked == FALSE)) |
1424 | { |
1425 | { |
1425 | CreateNmeaGGA(); |
1426 | CreateNmeaGGA(); |
1426 | Send_NMEA_RMC = TRUE; // das muss noch da hinter |
1427 | Send_NMEA_RMC = TRUE; // das muss noch da hinter |
1427 | NMEA_Timer = SetDelay(NMEA_Interval); |
1428 | NMEA_Timer = SetDelay(NMEA_Interval); |
1428 | } |
1429 | } |
1429 | else if(Send_NMEA_RMC == TRUE && (UART1_tx_buffer.Locked == FALSE)) |
1430 | else if(Send_NMEA_RMC == TRUE && (UART1_tx_buffer.Locked == FALSE)) |
1430 | { |
1431 | { |
1431 | CreateNmeaRMC(); |
1432 | CreateNmeaRMC(); |
1432 | Send_NMEA_RMC = FALSE; |
1433 | Send_NMEA_RMC = FALSE; |
1433 | } |
1434 | } |
1434 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1435 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
1435 | { |
1436 | { |
1436 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
1437 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
1437 | UART1_ConfirmFrame = 0; |
1438 | UART1_ConfirmFrame = 0; |
1438 | } |
1439 | } |
1439 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
1440 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
1440 | { |
1441 | { |
1441 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
1442 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
1442 | UART1_Request_ExternalControl = FALSE; |
1443 | UART1_Request_ExternalControl = FALSE; |
1443 | } |
1444 | } |
1444 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
1445 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
1445 | { |
1446 | { |
1446 | if(UART1_DisplayLine > 3) |
1447 | if(UART1_DisplayLine > 3) |
1447 | { |
1448 | { |
1448 | Menu_Update(UART1_DisplayKeys); |
1449 | Menu_Update(UART1_DisplayKeys); |
1449 | UART1_DisplayKeys = 0; |
1450 | UART1_DisplayKeys = 0; |
1450 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
1451 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
1451 | } |
1452 | } |
1452 | else |
1453 | else |
1453 | { |
1454 | { |
1454 | UART1_DisplayLine = 2; |
1455 | UART1_DisplayLine = 2; |
1455 | sprintf(text,"!!! incompatible !!!"); |
1456 | sprintf(text,"!!! incompatible !!!"); |
1456 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
1457 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
1457 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
1458 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
1458 | } |
1459 | } |
1459 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
1460 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
1460 | UART1_Request_Display = FALSE; |
1461 | UART1_Request_Display = FALSE; |
1461 | } |
1462 | } |
1462 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
1463 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
1463 | { |
1464 | { |
1464 | Menu_Update(0); |
1465 | Menu_Update(0); |
1465 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
1466 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
1466 | UART1_Request_Display1 = FALSE; |
1467 | UART1_Request_Display1 = FALSE; |
1467 | } |
1468 | } |
1468 | else if(UART1_Request_VersionInfo == 1 && (UART1_tx_buffer.Locked == FALSE)) // get FC-Versions |
1469 | else if(UART1_Request_VersionInfo == 1 && (UART1_tx_buffer.Locked == FALSE)) // get FC-Versions |
1469 | { |
1470 | { |
1470 | UART_VersionInfo_t version_tmp; |
1471 | UART_VersionInfo_t version_tmp; |
1471 | version_tmp.SWMajor = FC_Version.Major; |
1472 | version_tmp.SWMajor = FC_Version.Major; |
1472 | version_tmp.SWMinor = FC_Version.Minor; |
1473 | version_tmp.SWMinor = FC_Version.Minor; |
1473 | version_tmp.SWPatch = FC_Version.Patch; |
1474 | version_tmp.SWPatch = FC_Version.Patch; |
1474 | version_tmp.HWMajor = FC_Version.Hardware; |
1475 | version_tmp.HWMajor = FC_Version.Hardware; |
1475 | version_tmp.HardwareError[0] = 0xff; // tells the KopterTool that it is the FC-version |
1476 | version_tmp.HardwareError[0] = 0xff; // tells the KopterTool that it is the FC-version |
1476 | version_tmp.HardwareError[1] = 0xff; // tells the KopterTool that it is the FC-version |
1477 | version_tmp.HardwareError[1] = 0xff; // tells the KopterTool that it is the FC-version |
1477 | version_tmp.ProtoMajor = UART_VersionInfo.ProtoMajor; |
1478 | version_tmp.ProtoMajor = UART_VersionInfo.ProtoMajor; |
1478 | version_tmp.BL_Firmware = UART_VersionInfo.BL_Firmware; |
1479 | version_tmp.BL_Firmware = UART_VersionInfo.BL_Firmware; |
1479 | version_tmp.Flags = 0; |
1480 | version_tmp.Flags = 0; |
1480 | version_tmp.LabelTextCRC = 0;//UART_VersionInfo.DebugTextCRC; |
1481 | version_tmp.LabelTextCRC = 0;//UART_VersionInfo.DebugTextCRC; |
1481 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&version_tmp, sizeof(version_tmp)); |
1482 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&version_tmp, sizeof(version_tmp)); |
1482 | UART1_Request_VersionInfo = FALSE; |
1483 | UART1_Request_VersionInfo = FALSE; |
1483 | } |
1484 | } |
1484 | else if(UART1_Request_VersionInfo == 2 && (UART1_tx_buffer.Locked == FALSE)) // get NC-Versions |
1485 | else if(UART1_Request_VersionInfo == 2 && (UART1_tx_buffer.Locked == FALSE)) // get NC-Versions |
1485 | { |
1486 | { |
1486 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
1487 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
1487 | UART1_Request_VersionInfo = FALSE; |
1488 | UART1_Request_VersionInfo = FALSE; |
1488 | } |
1489 | } |
1489 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
1490 | else if(UART1_Request_SystemTime && (UART1_tx_buffer.Locked == FALSE)) |
1490 | { |
1491 | { |
1491 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
1492 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'T', NC_ADDRESS,1, (u8 *)&SystemTime, sizeof(SystemTime)); |
1492 | UART1_Request_SystemTime = FALSE; |
1493 | UART1_Request_SystemTime = FALSE; |
1493 | } |
1494 | } |
1494 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
1495 | else if(UART1_Request_ErrorMessage && (UART1_tx_buffer.Locked == FALSE)) |
1495 | { |
1496 | { |
1496 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
1497 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
1497 | UART1_Request_ErrorMessage = FALSE; |
1498 | UART1_Request_ErrorMessage = FALSE; |
1498 | } |
1499 | } |
1499 | else if(UART1_Request_PPM_Channels && (UART1_tx_buffer.Locked == FALSE)) |
1500 | else if(UART1_Request_PPM_Channels && (UART1_tx_buffer.Locked == FALSE)) |
1500 | { |
1501 | { |
1501 | s16 ppm_tmp[MAX_RC_IN], i; |
1502 | s16 ppm_tmp[MAX_RC_IN], i; |
1502 | for(i=0; i<MAX_RC_IN;i++) ppm_tmp[i] = PPM_In[i]; // because the serial Data expects s16 |
1503 | for(i=0; i<MAX_RC_IN;i++) ppm_tmp[i] = PPM_In[i]; // because the serial Data expects s16 |
1503 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'P', NC_ADDRESS, 1, (u8 *)&ppm_tmp, sizeof(ppm_tmp)); |
1504 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'P', NC_ADDRESS, 1, (u8 *)&ppm_tmp, sizeof(ppm_tmp)); |
1504 | UART1_Request_PPM_Channels = FALSE; |
1505 | UART1_Request_PPM_Channels = FALSE; |
1505 | } |
1506 | } |
1506 | else if(UART1_Request_LicenseString && (UART1_tx_buffer.Locked == FALSE)) |
1507 | else if(UART1_Request_LicenseString && (UART1_tx_buffer.Locked == FALSE)) |
1507 | { |
1508 | { |
1508 | u8 result = 1, cmd = 0; |
1509 | u8 result = 1, cmd = 0; |
1509 | if(UART1_Request_LicenseString == LIC_CMD_READ_LICENSE) |
1510 | if(UART1_Request_LicenseString == LIC_CMD_READ_LICENSE) |
1510 | { |
1511 | { |
1511 | result = LIC_CMD_READ_LICENSE; |
1512 | result = LIC_CMD_READ_LICENSE; |
1512 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &result, 1, LicensePtr, LICENSE_SIZE); |
1513 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &result, 1, LicensePtr, LICENSE_SIZE); |
1513 | } |
1514 | } |
1514 | else |
1515 | else |
1515 | if((UART1_Request_LicenseString == LIC_CMD_ERASE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
1516 | if((UART1_Request_LicenseString == LIC_CMD_ERASE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
1516 | { |
1517 | { |
1517 | result = LIC_CMD_ERASE_LICENSE; |
1518 | result = LIC_CMD_ERASE_LICENSE; |
1518 | DeleteLicenseInEEPROM(); |
1519 | DeleteLicenseInEEPROM(); |
1519 | CheckLicense(GET_LICENSE); |
1520 | CheckLicense(GET_LICENSE); |
1520 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 1, &result, 1); |
1521 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 1, &result, 1); |
1521 | } |
1522 | } |
1522 | else |
1523 | else |
1523 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
1524 | if((UART1_Request_LicenseString == LIC_CMD_WRITE_LICENSE) && !(FC.StatusFlags & FC_STATUS_MOTOR_RUN) && (UART_VersionInfo.HWMajor >= 20)) |
1524 | { |
1525 | { |
1525 | cmd = LIC_CMD_WRITE_LICENSE; |
1526 | cmd = LIC_CMD_WRITE_LICENSE; |
1526 | if(CheckLicense(CHECK_ONLY)) //new license is okay |
1527 | if(CheckLicense(CHECK_ONLY)) //new license is okay |
1527 | { |
1528 | { |
1528 | WriteLicenseToEEPROM(EEPROM_LICENSE_DATA_KOMPATIBEL); |
1529 | WriteLicenseToEEPROM(EEPROM_LICENSE_DATA_KOMPATIBEL); |
1529 | result = 1; |
1530 | result = 1; |
1530 | } |
1531 | } |
1531 | else //new license is NOT okay |
1532 | else //new license is NOT okay |
1532 | { |
1533 | { |
1533 | ClearLicenseText(); |
1534 | ClearLicenseText(); |
1534 | result = 0; |
1535 | result = 0; |
1535 | CheckLicense(GET_LICENSE); // fetch a license if available |
1536 | CheckLicense(GET_LICENSE); // fetch a license if available |
1536 | } |
1537 | } |
1537 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &cmd, 1,&result, 1 ); |
1538 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'M', NC_ADDRESS, 2, &cmd, 1,&result, 1 ); |
1538 | } |
1539 | } |
1539 | UART1_Request_LicenseString = 0; |
1540 | UART1_Request_LicenseString = 0; |
1540 | } |
1541 | } |
1541 | #ifdef FOLLOW_ME |
1542 | #ifdef FOLLOW_ME |
1542 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
1543 | else if(CheckDelay(UART1_FollowMe_Timer) && (UART1_tx_buffer.Locked == FALSE)) |
1543 | { |
1544 | { |
1544 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
1545 | if((GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.NumOfSats >= 4)) |
1545 | { |
1546 | { |
1546 | TransmitAlsoToFC = 1; |
1547 | TransmitAlsoToFC = 1; |
1547 | // update FollowMe content |
1548 | // update FollowMe content |
1548 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
1549 | FollowMe.Position.Longitude = GPSData.Position.Longitude; |
1549 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
1550 | FollowMe.Position.Latitude = GPSData.Position.Latitude; |
1550 | FollowMe.Position.Status = NEWDATA; |
1551 | FollowMe.Position.Status = NEWDATA; |
1551 | FollowMe.Position.Altitude = 1; |
1552 | FollowMe.Position.Altitude = 1; |
1552 | // 0 -> no Orientation |
1553 | // 0 -> no Orientation |
1553 | // 1-360 -> CompassCourse Setpoint |
1554 | // 1-360 -> CompassCourse Setpoint |
1554 | // -1 -> points to WP1 -> itself |
1555 | // -1 -> points to WP1 -> itself |
1555 | FollowMe.Heading = -1; |
1556 | FollowMe.Heading = -1; |
1556 | FollowMe.ToleranceRadius = 1; |
1557 | FollowMe.ToleranceRadius = 1; |
1557 | FollowMe.HoldTime = 60; |
1558 | FollowMe.HoldTime = 60; |
1558 | FollowMe.Event_Flag = 1; |
1559 | FollowMe.Event_Flag = 1; |
1559 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
1560 | FollowMe.Index = 1; // 0 = Delete List, 1 place at first entry in the list |
1560 | FollowMe.Type = POINT_TYPE_WP; |
1561 | FollowMe.Type = POINT_TYPE_WP; |
1561 | FollowMe.WP_EventChannelValue = 100; // set servo value |
1562 | FollowMe.WP_EventChannelValue = 100; // set servo value |
1562 | FollowMe.AltitudeRate = 0; // do not change height |
1563 | FollowMe.AltitudeRate = 0; // do not change height |
1563 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
1564 | FollowMe.Speed = 0; // rate to change the Position (0 = max) |
1564 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
1565 | FollowMe.CamAngle = 255; // Camera servo angle in degree (255 -> POI-Automatic) |
1565 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
1566 | FollowMe.Name[0] = 'F'; // Name of that point (ASCII) |
1566 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
1567 | FollowMe.Name[1] = 'O'; // Name of that point (ASCII) |
1567 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
1568 | FollowMe.Name[2] = 'L'; // Name of that point (ASCII) |
1568 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
1569 | FollowMe.Name[3] = 'L'; // Name of that point (ASCII) |
1569 | FollowMe.reserve[0] = 0; // reserve |
1570 | FollowMe.reserve[0] = 0; // reserve |
1570 | FollowMe.reserve[1] = 0; // reserve |
1571 | FollowMe.reserve[1] = 0; // reserve |
1571 | /* |
1572 | /* |
1572 | { |
1573 | { |
1573 | static u32 distance; |
1574 | static u32 distance; |
1574 | distance = (10 + distance + AnalogData.Ch5 * 5) / 2; |
1575 | distance = (10 + distance + AnalogData.Ch5 * 5) / 2; |
1575 | |
1576 | |
1576 | GPSPos_ShiftGeodetic(&(FollowMe.Position), (s16)GyroCompassCorrected/10, distance); |
1577 | GPSPos_ShiftGeodetic(&(FollowMe.Position), (s16)GyroCompassCorrected/10, distance); |
1577 | FollowMe.Heading = (s16)GyroCompassCorrected/10; |
1578 | FollowMe.Heading = (s16)GyroCompassCorrected/10; |
1578 | FollowMe.CamAngle = 0; // Camera servo angle in degree (255 -> POI-Automatic) |
1579 | FollowMe.CamAngle = 0; // Camera servo angle in degree (255 -> POI-Automatic) |
1579 | FollowMe.Speed = 50 + GPSData.Speed_Ground / 10; |
1580 | FollowMe.Speed = 50 + GPSData.Speed_Ground / 10; |
1580 | } |
1581 | } |
1581 | */ |
1582 | */ |
1582 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
1583 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 's', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
1583 | } |
1584 | } |
1584 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
1585 | UART1_FollowMe_Timer = SetDelay(FOLLOW_ME_INTERVAL); // set new update time |
1585 | } |
1586 | } |
1586 | #endif |
1587 | #endif |
1587 | #ifdef DEBUG // only include functions if DEBUG is defined |
1588 | #ifdef DEBUG // only include functions if DEBUG is defined |
1588 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
1589 | else if(SendDebugOutput && (UART1_tx_buffer.Locked == FALSE)) |
1589 | { |
1590 | { |
1590 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
1591 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer,'0', NC_ADDRESS, 1, (u8 *) &tDebug, sizeof(tDebug)); |
1591 | SendDebugOutput = 0; |
1592 | SendDebugOutput = 0; |
1592 | } |
1593 | } |
1593 | #endif |
1594 | #endif |
1594 | UART1_Transmit(); // output pending bytes in tx buffer |
1595 | UART1_Transmit(); // output pending bytes in tx buffer |
1595 | } |
1596 | } |
1596 | 1597 | ||
1597 | 1598 |