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Line 71... | Line 71... | ||
71 | #include "timer2.h" |
71 | #include "timer2.h" |
72 | #include "analog.h" |
72 | #include "analog.h" |
73 | #include "main.h" |
73 | #include "main.h" |
74 | #include "waypoints.h" |
74 | #include "waypoints.h" |
75 | #include "mkprotocol.h" |
75 | #include "mkprotocol.h" |
- | 76 | #include "params.h" |
|
76 | #include "fifo.h" |
77 | #include "fifo.h" |
Line 77... | Line 78... | ||
77 | 78 | ||
78 | #define FALSE 0 |
79 | #define FALSE 0 |
Line 90... | Line 91... | ||
90 | u8 UART1_Request_ErrorMessage = FALSE; |
91 | u8 UART1_Request_ErrorMessage = FALSE; |
91 | u8 UART1_Request_NewWaypoint = FALSE; |
92 | u8 UART1_Request_NewWaypoint = FALSE; |
92 | u8 UART1_Request_ReadWaypoint = 255; |
93 | u8 UART1_Request_ReadWaypoint = 255; |
93 | u8 UART1_Request_Data3D = FALSE; |
94 | u8 UART1_Request_Data3D = FALSE; |
94 | u8 UART1_Request_Echo = FALSE; |
95 | u8 UART1_Request_Echo = FALSE; |
- | 96 | u8 UART1_Request_ParameterId = 0; |
|
- | 97 | u8 UART1_Request_Parameter = TRUE; |
|
95 | u8 UART1_DisplayLine = 0; |
98 | u8 UART1_DisplayLine = 0; |
96 | u8 UART1_ConfirmFrame = 0; |
99 | u8 UART1_ConfirmFrame = 0; |
Line 97... | Line 100... | ||
97 | 100 | ||
Line 429... | Line 432... | ||
429 | 432 | ||
430 | case 'x':// Read Waypoint from List |
433 | case 'x':// Read Waypoint from List |
431 | UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
434 | UART1_Request_ReadWaypoint = SerialMsg.pData[0]; |
Line -... | Line 435... | ||
- | 435 | break; |
|
- | 436 | ||
- | 437 | case 'p':// Set/Get NC-Parameter |
|
- | 438 | switch(SerialMsg.pData[0]) |
|
- | 439 | { |
|
- | 440 | case 0: // get |
|
- | 441 | break; |
|
- | 442 | ||
- | 443 | case 1: // set |
|
- | 444 | NCParams_SetValue(SerialMsg.pData[1], *(s16*)(&SerialMsg.pData[2])); |
|
- | 445 | break; |
|
- | 446 | ||
- | 447 | default: |
|
- | 448 | break; |
|
- | 449 | } |
|
- | 450 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
|
432 | break; |
451 | UART1_Request_Parameter = TRUE; |
433 | 452 | break; |
|
434 | default: |
453 | default: |
435 | // unsupported command recieved |
454 | // unsupported command recieved |
436 | break; |
455 | break; |
Line 553... | Line 572... | ||
553 | { |
572 | { |
554 | if(DebugUART != UART1) return; |
573 | if(DebugUART != UART1) return; |
555 | UART1_Transmit(); // output pending bytes in tx buffer |
574 | UART1_Transmit(); // output pending bytes in tx buffer |
556 | if((UART1_tx_buffer.Locked == TRUE)) return; |
575 | if((UART1_tx_buffer.Locked == TRUE)) return; |
Line -... | Line 576... | ||
- | 576 | ||
- | 577 | if(UART1_Request_Parameter && (UART1_tx_buffer.Locked == FALSE)) |
|
- | 578 | { |
|
- | 579 | s16 ParamValue; |
|
- | 580 | ParamValue = NCParams_GetValue(UART1_Request_ParameterId); |
|
- | 581 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'P', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
|
- | 582 | UART1_Request_Parameter = FALSE; |
|
557 | 583 | } |
|
558 | if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
584 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
559 | { |
585 | { |
560 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
586 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
561 | Echo = 0; // reset echo value |
587 | Echo = 0; // reset echo value |
562 | UART1_Request_Echo = FALSE; |
588 | UART1_Request_Echo = FALSE; |