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Rev 192 | Rev 193 | ||
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Line 164... | Line 164... | ||
164 | NaviData_t NaviData; |
164 | NaviData_t NaviData; |
165 | Waypoint_t FollowMe; |
165 | Waypoint_t FollowMe; |
166 | Data3D_t Data3D; |
166 | Data3D_t Data3D; |
167 | u16 Echo; // 2 bytes recieved will be sent back as echo |
167 | u16 Echo; // 2 bytes recieved will be sent back as echo |
Line 168... | Line 168... | ||
168 | 168 | ||
169 | u32 UART1_DebugData_Timer; |
169 | u32 UART1_DebugData_Timer = 0; |
170 | u32 UART1_DebugData_Interval = 5000; // in ms |
170 | u32 UART1_DebugData_Interval = 5000; // in ms |
171 | u32 UART1_NaviData_Timer; |
171 | u32 UART1_NaviData_Timer = 0; |
172 | u32 UART1_NaviData_Interval = 5000; // in ms |
172 | u32 UART1_NaviData_Interval = 5000; // in ms |
173 | u32 UART1_Data3D_Timer = 0; // in ms |
173 | u32 UART1_Data3D_Timer = 0; // in ms |
- | 174 | u32 UART1_Data3D_Interval = 0; |
|
- | 175 | u32 UART1_Display_Timer = 0; |
|
Line 174... | Line 176... | ||
174 | u32 UART1_Data3D_Interval = 0; |
176 | u32 UART1_Display_Interval = 0; |
175 | 177 | ||
176 | /********************************************************/ |
178 | /********************************************************/ |
177 | /* Initialization the UART1 */ |
179 | /* Initialization the UART1 */ |
Line 490... | Line 492... | ||
490 | { |
492 | { |
491 | case 'a':// request for the labels of the analog debug outputs |
493 | case 'a':// request for the labels of the analog debug outputs |
492 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
494 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
493 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
495 | if(UART1_Request_DebugLabel > 31) UART1_Request_DebugLabel = 31; |
494 | break; |
496 | break; |
495 | 497 | /* |
|
496 | case 'b': // submit extern control |
498 | case 'b': // submit extern control |
497 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
499 | memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
498 | UART1_ConfirmFrame = ExternControl.Frame; |
500 | UART1_ConfirmFrame = ExternControl.Frame; |
499 | break; |
501 | break; |
500 | 502 | */ |
|
501 | case 'd': // request for debug data; |
503 | case 'd': // request for debug data; |
502 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
504 | UART1_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
503 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
505 | if(UART1_DebugData_Interval > 0) UART1_Request_DebugData = TRUE; |
504 | break; |
506 | break; |
Line 505... | Line 507... | ||
505 | 507 | ||
506 | case 'c': // request for 3D data; |
508 | case 'c': // request for 3D data; |
507 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
509 | UART1_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
508 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
510 | if(UART1_Data3D_Interval > 0) UART1_Request_Data3D = TRUE; |
509 | break; |
511 | break; |
510 | 512 | /* |
|
511 | case 'g':// request for external control data |
513 | case 'g':// request for external control data |
512 | UART1_Request_ExternalControl = TRUE; |
514 | UART1_Request_ExternalControl = TRUE; |
513 | break; |
515 | break; |
514 | 516 | */ |
|
- | 517 | case 'h':// reqest for display line |
|
- | 518 | if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
|
- | 519 | { |
|
- | 520 | UART1_DisplayLine = 2; |
|
- | 521 | UART1_Display_Interval = 0; |
|
- | 522 | } |
|
- | 523 | else |
|
515 | case 'h':// reqest for display line |
524 | { |
- | 525 | RemoteKeys |= ~SerialMsg.pData[0]; |
|
516 | RemoteKeys |= SerialMsg.pData[0]; |
526 | UART1_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
- | 527 | UART1_DisplayLine = 4; |
|
517 | if(RemoteKeys != 0) UART1_DisplayLine = 0; |
528 | } |
518 | UART1_Request_Display = TRUE; |
529 | UART1_Request_Display = TRUE; |
Line 519... | Line 530... | ||
519 | break; |
530 | break; |
520 | 531 | ||
Line 658... | Line 669... | ||
658 | { |
669 | { |
659 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
670 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
660 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
671 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
661 | UART1_Request_Data3D = FALSE; |
672 | UART1_Request_Data3D = FALSE; |
662 | } |
673 | } |
663 | 674 | /* |
|
664 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
675 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
665 | { |
676 | { |
666 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
677 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
667 | UART1_ConfirmFrame = 0; |
678 | UART1_ConfirmFrame = 0; |
668 | } |
679 | } |
669 | 680 | */ |
|
670 | 681 | /* |
|
671 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
682 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
672 | { |
683 | { |
673 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
684 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
674 | UART1_Request_ExternalControl = FALSE; |
685 | UART1_Request_ExternalControl = FALSE; |
675 | } |
686 | } |
676 | 687 | */ |
|
677 | else if(UART1_Request_Display && (UART1_tx_buffer.Locked == FALSE)) |
688 | else if( (( (UART1_Display_Interval > 0) && CheckDelay(UART1_Display_Timer)) || UART1_Request_Display) && (UART1_tx_buffer.Locked == FALSE)) |
678 | { |
689 | { |
- | 690 | if(UART1_DisplayLine > 3) |
|
- | 691 | { |
|
679 | LCD_PrintMenu(); |
692 | LCD_PrintMenu(); |
680 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&DisplayBuff[UART1_DisplayLine * 20], 20); |
693 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
- | 694 | } |
|
- | 695 | else |
|
- | 696 | { |
|
681 | UART1_DisplayLine++; |
697 | UART1_DisplayLine = 2; |
- | 698 | sprintf(text,"!!! incompatible !!!"); |
|
- | 699 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'H', NC_ADDRESS, 2, &UART1_DisplayLine, sizeof(UART1_DisplayLine), (u8*)&text, 20); |
|
682 | if(UART1_DisplayLine >= 4) UART1_DisplayLine = 0; |
700 | if(UART1_DisplayLine++ > 3) UART1_DisplayLine = 0; |
- | 701 | } |
|
- | 702 | UART1_Display_Timer = SetDelay(UART1_Display_Interval); |
|
683 | UART1_Request_Display = FALSE; |
703 | UART1_Request_Display = FALSE; |
684 | } |
704 | } |
685 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
705 | else if(UART1_Request_Display1 && (UART1_tx_buffer.Locked == FALSE)) |
686 | { |
706 | { |
687 | LCD_PrintMenu(); |
707 | LCD_PrintMenu(); |