Rev 189 | Rev 191 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 189 | Rev 190 | ||
|---|---|---|---|
| Line 356... | Line 356... | ||
| 356 | if(UART1_rx_buffer.Locked == FALSE) return; |
356 | if(UART1_rx_buffer.Locked == FALSE) return; |
| Line 357... | Line 357... | ||
| 357 | 357 | ||
| 358 | Waypoint_t * pWaypoint = NULL; |
358 | Waypoint_t * pWaypoint = NULL; |
| Line -... | Line 359... | ||
| - | 359 | SerialMsg_t SerialMsg; |
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| - | 360 | ||
| - | 361 | // analyze header first |
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| - | 362 | MKProtocol_DecodeSerialFrameHeader(&UART1_rx_buffer, &SerialMsg); |
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| - | 363 | if( (SerialMsg.Address == FC_ADDRESS) && (SerialMsg.CmdID == 'y') ) |
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| - | 364 | { |
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| - | 365 | if(Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer)) |
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| - | 366 | { |
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| - | 367 | DebugOut.Analog[31]++; |
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| - | 368 | } |
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| - | 369 | Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame |
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| - | 370 | return; |
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| 359 | SerialMsg_t SerialMsg; |
371 | } |
| 360 | 372 | ||
| 361 | MKProtocol_DecodeSerialFrame(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
373 | MKProtocol_DecodeSerialFrameData(&UART1_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
| 362 | if(*(SerialMsg.pCmdID) != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
374 | if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
| 363 | switch(*(SerialMsg.pAddress)) // check for Slave Address |
375 | switch(SerialMsg.Address) // check for Slave Address |
| 364 | { |
376 | { |
| 365 | case NC_ADDRESS: // own Slave Address |
377 | case NC_ADDRESS: // own Slave Address |
| 366 | switch(*(SerialMsg.pCmdID)) |
378 | switch(SerialMsg.CmdID) |
| 367 | { |
379 | { |
| 368 | case 'z': // connection checker |
380 | case 'z': // connection checker |
| 369 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
381 | memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
| Line 469... | Line 481... | ||
| 469 | } // case NC_ADDRESS |
481 | } // case NC_ADDRESS |
| 470 | // "break;" is missing here to fall thru to the common commands |
482 | // "break;" is missing here to fall thru to the common commands |
| Line 471... | Line 483... | ||
| 471 | 483 | ||
| Line 472... | Line 484... | ||
| 472 | default: // and any other Slave Address |
484 | default: // and any other Slave Address |
| 473 | 485 | ||
| 474 | switch(*(SerialMsg.pCmdID)) // check CmdID |
486 | switch(SerialMsg.CmdID) // check CmdID |
| 475 | { |
487 | { |
| 476 | case 'a':// request for the labels of the analog debug outputs |
488 | case 'a':// request for the labels of the analog debug outputs |
| 477 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |
489 | UART1_Request_DebugLabel = SerialMsg.pData[0]; |