Rev 151 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 151 | Rev 153 | ||
---|---|---|---|
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 "fifo.h" |
|
Line 76... | Line 77... | ||
76 | 77 | ||
77 | #define FALSE 0 |
78 | #define FALSE 0 |
Line 94... | Line 95... | ||
94 | u8 UART1_DisplayLine = 0; |
95 | u8 UART1_DisplayLine = 0; |
95 | u8 UART1_ConfirmFrame = 0; |
96 | u8 UART1_ConfirmFrame = 0; |
Line 96... | Line 97... | ||
96 | 97 | ||
Line 97... | Line 98... | ||
97 | UART_TypeDef *DebugUART = UART1; |
98 | UART_TypeDef *DebugUART = UART1; |
98 | 99 | ||
99 | // the tx buffer |
100 | // the primary rx fifo |
100 | #define UART1_TX_BUFFER_LEN 150 |
101 | #define UART1_RX_FIFO_LEN 512 |
Line 101... | Line 102... | ||
101 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
102 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
102 | Buffer_t UART1_tx_buffer; |
103 | fifo_t UART1_rx_fifo; |
103 | 104 | ||
104 | // the rx buffer |
105 | // the rx buffer |
Line -... | Line 106... | ||
- | 106 | #define UART1_RX_BUFFER_LEN 150 |
|
- | 107 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
|
- | 108 | Buffer_t UART1_rx_buffer; |
|
- | 109 | ||
- | 110 | // the tx buffer |
|
- | 111 | #define UART1_TX_BUFFER_LEN 150 |
|
- | 112 | u8 UART1_tbuffer[UART1_TX_BUFFER_LEN]; |
|
105 | #define UART1_RX_BUFFER_LEN 150 |
113 | Buffer_t UART1_tx_buffer; |
Line 106... | Line 114... | ||
106 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
114 | |
Line 107... | Line 115... | ||
107 | Buffer_t UART1_rx_buffer; |
115 | |
Line 168... | Line 176... | ||
168 | void UART1_Init (void) |
176 | void UART1_Init (void) |
169 | { |
177 | { |
170 | GPIO_InitTypeDef GPIO_InitStructure; |
178 | GPIO_InitTypeDef GPIO_InitStructure; |
171 | UART_InitTypeDef UART_InitStructure; |
179 | UART_InitTypeDef UART_InitStructure; |
Line -... | Line 180... | ||
- | 180 | ||
- | 181 | // initialize txd buffer |
|
- | 182 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
|
- | 183 | ||
- | 184 | // initialize rxd buffer |
|
- | 185 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
|
- | 186 | ||
- | 187 | // initialize the rx fifo |
|
- | 188 | fifo_init(&UART1_rx_fifo, UART1_rxfifobuffer, UART1_RX_FIFO_LEN); |
|
172 | 189 | ||
173 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
190 | SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
Line 174... | Line 191... | ||
174 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
191 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
175 | 192 | ||
Line 209... | Line 226... | ||
209 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
226 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
210 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
227 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
211 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
228 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
Line 212... | Line 229... | ||
212 | 229 | ||
213 | UART_DeInit(UART1); // reset uart 1 to default |
230 | UART_DeInit(UART1); // reset uart 1 to default |
214 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
231 | UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
215 | // enable uart 1 interrupts selective |
232 | // enable uart 1 interrupts selective |
216 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
233 | UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
217 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
234 | UART_Cmd(UART1, ENABLE); // enable uart 1 |
218 | // configure the uart 1 interupt line |
235 | // configure the uart 1 interupt line |
219 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
236 | VIC_Config(UART1_ITLine, VIC_IRQ, PRIORITY_UART1); |
220 | // enable the uart 1 IRQ |
237 | // enable the uart 1 IRQ |
- | 238 | VIC_ITCmd(UART1_ITLine, ENABLE); |
|
221 | VIC_ITCmd(UART1_ITLine, ENABLE); |
239 | |
222 | // initialize the debug timer |
240 | // initialize the debug timer |
223 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
241 | UART1_DebugData_Timer = SetDelay(UART1_DebugData_Interval); |
224 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
- | |
225 | - | ||
226 | // initialize txd buffer |
- | |
227 | Buffer_Init(&UART1_tx_buffer, UART1_tbuffer, UART1_TX_BUFFER_LEN); |
- | |
228 | - | ||
229 | // initialize rxd buffer |
- | |
Line 230... | Line 242... | ||
230 | Buffer_Init(&UART1_rx_buffer, UART1_rbuffer, UART1_RX_BUFFER_LEN); |
242 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval)+500; |
231 | 243 | ||
232 | // Fill Version Info Structure |
244 | // Fill Version Info Structure |
233 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
245 | UART_VersionInfo.SWMajor = VERSION_MAJOR; |
Line 250... | Line 262... | ||
250 | static u8 abortState = 0; |
262 | static u8 abortState = 0; |
251 | u8 c; |
263 | u8 c; |
Line 252... | Line 264... | ||
252 | 264 | ||
253 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
265 | if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
254 | { |
266 | { |
255 | // clear the pending bits |
267 | // clear the pending bits! |
256 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
268 | UART_ClearITPendingBit(UART1, UART_IT_Receive); |
257 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
269 | UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
258 | // if debug UART is not UART1 |
270 | // if debug UART is not UART1 |
259 | if (DebugUART != UART1) |
271 | if (DebugUART != UART1) |
Line 286... | Line 298... | ||
286 | { |
298 | { |
287 | if(DebugUART == UART0) |
299 | if(DebugUART == UART0) |
288 | { |
300 | { |
289 | UART0_Connect_to_MKGPS(); |
301 | UART0_Connect_to_MKGPS(); |
290 | TIMER2_Init(); // enbable servo outputs |
302 | TIMER2_Init(); // enbable servo outputs |
- | 303 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
|
291 | } |
304 | } |
292 | DebugUART = UART1; |
305 | DebugUART = UART1; |
293 | } |
306 | } |
294 | abortState = 0; |
307 | abortState = 0; |
295 | break; |
308 | break; |
Line 306... | Line 319... | ||
306 | } |
319 | } |
307 | else // DebugUART == UART1 (normal operation) |
320 | else // DebugUART == UART1 (normal operation) |
308 | { |
321 | { |
309 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
322 | while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
310 | { // some byes in the fifo and rxd buffer not locked |
323 | { // some byes in the fifo and rxd buffer not locked |
311 | // get byte from fifo |
324 | // get byte from hardware fifo |
312 | c = UART_ReceiveData(UART1); |
325 | c = UART_ReceiveData(UART1); |
- | 326 | // put into the software fifo |
|
313 | MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c); |
327 | if(!fifo_put(&UART1_rx_fifo, c)) |
- | 328 | { // fifo overflow |
|
- | 329 | fifo_purge(&UART1_rx_fifo); // flush the whole buffer |
|
- | 330 | } |
|
314 | } // some byes in the fifo and rxd buffer not locked |
331 | } // some byes in the fifo and rxd buffer not locked |
315 | } // eof DebugUart = UART1 |
332 | } // eof DebugUart = UART1 |
316 | } |
333 | } |
317 | } |
334 | } |
Line 318... | Line 335... | ||
318 | 335 | ||
319 | /**************************************************************/ |
336 | /**************************************************************/ |
320 | /* Process incomming data from debug uart */ |
337 | /* Process incomming data from debug uart */ |
321 | /**************************************************************/ |
338 | /**************************************************************/ |
322 | void UART1_ProcessRxData(void) |
339 | void UART1_ProcessRxData(void) |
- | 340 | { |
|
- | 341 | u8 c; |
|
323 | { |
342 | |
- | 343 | // return on forwarding uart |
|
- | 344 | if(DebugUART != UART1) return; |
|
- | 345 | ||
- | 346 | // collect data from primary rx fifo |
|
- | 347 | while(fifo_get(&UART1_rx_fifo, &c)) |
|
- | 348 | { // break if complete frame is collected |
|
- | 349 | if(MKProtocol_CollectSerialFrame(&UART1_rx_buffer, c)) break; |
|
324 | SerialMsg_t SerialMsg; |
350 | } |
325 | // if data in the rxd buffer are not locked immediately return |
351 | // if data in the rxd buffer are not locked immediately return |
- | 352 | if(UART1_rx_buffer.Locked == FALSE) return; |
|
326 | if((UART1_rx_buffer.Locked == FALSE) || (DebugUART != UART1) ) return; |
353 | |
- | 354 | Waypoint_t * pWaypoint = NULL; |
|
Line 327... | Line 355... | ||
327 | Waypoint_t * pWaypoint = NULL; |
355 | SerialMsg_t SerialMsg; |
328 | 356 | ||
329 | MKProtocol_DecodeSerialFrame(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
357 | MKProtocol_DecodeSerialFrame(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
330 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
358 | if(*(SerialMsg.pCmdID) != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
331 | switch(SerialMsg.Address) // check for Slave Address |
359 | switch(*(SerialMsg.pAddress)) // check for Slave Address |
332 | { |
360 | { |
333 | case NC_ADDRESS: // own Slave Address |
361 | case NC_ADDRESS: // own Slave Address |
334 | switch(SerialMsg.CmdID) |
362 | switch(*(SerialMsg.pCmdID)) |
335 | { |
363 | { |
336 | case 'z': // connection checker |
364 | case 'z': // connection checker |
337 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
365 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
Line 356... | Line 384... | ||
356 | case 'u': // redirect debug uart |
384 | case 'u': // redirect debug uart |
357 | switch(SerialMsg.pData[0]) |
385 | switch(SerialMsg.pData[0]) |
358 | { |
386 | { |
359 | case UART_FLIGHTCTRL: |
387 | case UART_FLIGHTCTRL: |
360 | UART2_Init(); // initialize UART2 to FC pins |
388 | UART2_Init(); // initialize UART2 to FC pins |
361 | //TIMER2_Deinit(); // stop servo output |
389 | fifo_purge(&UART1_rx_fifo); |
362 | DebugUART = UART2; |
390 | DebugUART = UART2; |
363 | break; |
391 | break; |
364 | case UART_MK3MAG: |
392 | case UART_MK3MAG: |
365 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
393 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
366 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
394 | UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
367 | //TIMER2_Deinit(); // stop servo output |
- | |
368 | GPSData.Status = INVALID; |
395 | GPSData.Status = INVALID; |
- | 396 | fifo_purge(&UART1_rx_fifo); |
|
369 | DebugUART = UART0; |
397 | DebugUART = UART0; |
370 | break; |
398 | break; |
371 | case UART_MKGPS: |
399 | case UART_MKGPS: |
372 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
400 | if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
373 | TIMER2_Deinit(); |
401 | TIMER2_Deinit(); |
374 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
402 | UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
375 | GPSData.Status = INVALID; |
403 | GPSData.Status = INVALID; |
- | 404 | fifo_purge(&UART1_rx_fifo); |
|
376 | DebugUART = UART0; |
405 | DebugUART = UART0; |
377 | break; |
406 | break; |
- | 407 | default: |
|
- | 408 | break; |
|
378 | } |
409 | } |
379 | break; |
410 | break; |
Line 380... | Line 411... | ||
380 | 411 | ||
381 | case 'w':// Append Waypoint to List |
412 | case 'w':// Append Waypoint to List |
Line 405... | Line 436... | ||
405 | } // case NC_ADDRESS |
436 | } // case NC_ADDRESS |
406 | // "break;" is missing here to fall thru to the common commands |
437 | // "break;" is missing here to fall thru to the common commands |
Line 407... | Line 438... | ||
407 | 438 | ||
Line 408... | Line 439... | ||
408 | default: // and any other Slave Address |
439 | default: // and any other Slave Address |
409 | 440 | ||
410 | switch(SerialMsg.CmdID) // check CmdID |
441 | switch(*(SerialMsg.pCmdID)) // check CmdID |
411 | { |
442 | { |
412 | case 'a':// request for the labels of the analog debug outputs |
443 | case 'a':// request for the labels of the analog debug outputs |
413 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
444 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
Line 456... | Line 487... | ||
456 | // unsupported command recieved |
487 | // unsupported command recieved |
457 | break; |
488 | break; |
458 | } |
489 | } |
459 | break; // default: |
490 | break; // default: |
460 | } |
491 | } |
461 | Buffer_Clear(&UART1_rx_buffer); |
492 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
462 | } |
493 | } |
Line 463... | Line 494... | ||
463 | 494 | ||
464 | 495 | ||
Line 527... | Line 558... | ||
527 | { |
558 | { |
528 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
559 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
529 | Echo = 0; // reset echo value |
560 | Echo = 0; // reset echo value |
530 | UART1_Request_Echo = FALSE; |
561 | UART1_Request_Echo = FALSE; |
531 | } |
562 | } |
532 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
- | |
533 | { |
- | |
534 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
- | |
535 | UART1_Request_DebugLabel = 0xFF; |
- | |
536 | } |
- | |
537 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
- | |
538 | { |
- | |
539 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
- | |
540 | UART1_ConfirmFrame = 0; |
- | |
541 | } |
- | |
542 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
563 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
543 | { |
564 | { |
544 | NaviData.Errorcode = ErrorCode; |
565 | NaviData.Errorcode = ErrorCode; |
545 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
566 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
546 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
567 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
Line 556... | Line 577... | ||
556 | { |
577 | { |
557 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
578 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
558 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
579 | UART1_Data3D_Timer = SetDelay(UART1_Data3D_Interval); |
559 | UART1_Request_Data3D = FALSE; |
580 | UART1_Request_Data3D = FALSE; |
560 | } |
581 | } |
- | 582 | else if((UART1_Request_DebugLabel != 0xFF) && (UART1_tx_buffer.Locked == FALSE)) |
|
- | 583 | { |
|
- | 584 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'A', NC_ADDRESS, 2, &UART1_Request_DebugLabel, sizeof(UART1_Request_DebugLabel), (u8 *) ANALOG_LABEL[UART1_Request_DebugLabel], 16); |
|
- | 585 | UART1_Request_DebugLabel = 0xFF; |
|
561 | 586 | } |
|
- | 587 | else if(UART1_ConfirmFrame && (UART1_tx_buffer.Locked == FALSE)) |
|
- | 588 | { |
|
- | 589 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'B', NC_ADDRESS, 1, &UART1_ConfirmFrame, sizeof(UART1_ConfirmFrame)); |
|
- | 590 | UART1_ConfirmFrame = 0; |
|
- | 591 | } |
|
562 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
592 | else if(UART1_Request_ExternalControl && (UART1_tx_buffer.Locked == FALSE)) |
563 | { |
593 | { |
564 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
594 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
565 | UART1_Request_ExternalControl = FALSE; |
595 | UART1_Request_ExternalControl = FALSE; |
566 | } |
596 | } |