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Line 75... | Line 75... | ||
75 | #include "params.h" |
75 | #include "params.h" |
76 | #include "fifo.h" |
76 | #include "fifo.h" |
77 | #include "debug.h" |
77 | #include "debug.h" |
78 | #include "spi_slave.h" |
78 | #include "spi_slave.h" |
79 | #include "ftphelper.h" |
79 | #include "ftphelper.h" |
- | 80 | #include "led.h" |
|
Line 80... | Line 81... | ||
80 | 81 | ||
81 | #define FALSE 0 |
82 | #define FALSE 0 |
Line 82... | Line 83... | ||
82 | #define TRUE 1 |
83 | #define TRUE 1 |
Line 112... | Line 113... | ||
112 | u32 UART1_FollowMe_Timer = 0; |
113 | u32 UART1_FollowMe_Timer = 0; |
113 | Point_t FollowMe; |
114 | Point_t FollowMe; |
114 | #endif |
115 | #endif |
Line 115... | Line 116... | ||
115 | 116 | ||
116 | // the primary rx fifo |
117 | // the primary rx fifo |
117 | #define UART1_RX_FIFO_LEN 512 |
118 | #define UART1_RX_FIFO_LEN 1024 |
118 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
119 | u8 UART1_rxfifobuffer[UART1_RX_FIFO_LEN]; |
Line 119... | Line 120... | ||
119 | fifo_t UART1_rx_fifo; |
120 | fifo_t UART1_rx_fifo; |
120 | 121 | ||
121 | // the rx buffer |
122 | // the rx buffer |
122 | #define UART1_RX_BUFFER_LEN 150 |
123 | #define UART1_RX_BUFFER_LEN 1024 |
Line 123... | Line 124... | ||
123 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
124 | u8 UART1_rbuffer[UART1_RX_BUFFER_LEN]; |
124 | Buffer_t UART1_rx_buffer; |
125 | Buffer_t UART1_rx_buffer; |
Line 350... | Line 351... | ||
350 | } // EOF while some byes in the hardware fifo |
351 | } // EOF while some byes in the hardware fifo |
351 | } // eof DebugUart = UART1 |
352 | } // eof DebugUart = UART1 |
352 | } |
353 | } |
Line 353... | Line 354... | ||
353 | 354 | ||
- | 355 | IDISABLE; |
|
354 | IDISABLE; |
356 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
Line 355... | Line 357... | ||
355 | } |
357 | } |
356 | 358 | ||
357 | /**************************************************************/ |
359 | /**************************************************************/ |
358 | /* Process incomming data from debug uart */ |
360 | /* Process incomming data from debug uart */ |
359 | /**************************************************************/ |
361 | /**************************************************************/ |
360 | void UART1_ProcessRxData(void) |
362 | void UART1_ProcessRxData(void) |
361 | { |
363 | { |
362 | // return on forwarding uart or unlocked rx buffer |
- | |
363 | if(DebugUART != UART1) return; |
364 | // return on forwarding uart or unlocked rx buffer |
364 | 365 | if(DebugUART != UART1) return; |
|
365 | u8 c; |
366 | u8 c; |
366 | // if rx buffer is not locked |
367 | // if rx buffer is not locked |
367 | if(UART1_rx_buffer.Locked == FALSE) |
368 | if(UART1_rx_buffer.Locked == FALSE) |
Line 662... | Line 663... | ||
662 | } |
663 | } |
663 | } |
664 | } |
664 | } |
665 | } |
665 | } |
666 | } |
Line -... | Line 667... | ||
- | 667 | ||
666 | 668 | ||
667 | /**************************************************************/ |
669 | /**************************************************************/ |
668 | /* Send the answers to incomming commands at the debug uart */ |
670 | /* Send the answers to incomming commands at the debug uart */ |
669 | /**************************************************************/ |
671 | /**************************************************************/ |
670 | void UART1_TransmitTxData(void) |
672 | void UART1_TransmitTxData(void) |
Line 676... | Line 678... | ||
676 | { |
678 | { |
677 | UART1_DebugData_Interval = 0; |
679 | UART1_DebugData_Interval = 0; |
678 | UART1_NaviData_Interval = 0; |
680 | UART1_NaviData_Interval = 0; |
679 | UART1_Data3D_Interval = 0; |
681 | UART1_Data3D_Interval = 0; |
680 | UART1_Display_Interval = 0; |
682 | UART1_Display_Interval = 0; |
- | 683 | UART1_MotorData_Interval = 0; |
|
681 | } |
684 | } |
Line 682... | Line 685... | ||
682 | 685 | ||
683 | UART1_Transmit(); // output pending bytes in tx buffer |
686 | UART1_Transmit(); // output pending bytes in tx buffer |
Line 725... | Line 728... | ||
725 | UART1_Request_DebugLabel = 0xFF; |
728 | UART1_Request_DebugLabel = 0xFF; |
726 | } |
729 | } |
727 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
730 | else if(( ((UART1_NaviData_Interval > 0) && CheckDelay(UART1_NaviData_Timer) ) || UART1_Request_NaviData) && (UART1_tx_buffer.Locked == FALSE)) |
728 | { |
731 | { |
729 | NaviData.Errorcode = ErrorCode; |
732 | NaviData.Errorcode = ErrorCode; |
730 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
733 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData, sizeof(NaviData)); |
731 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
734 | UART1_NaviData_Timer = SetDelay(UART1_NaviData_Interval); |
732 | UART1_Request_NaviData = FALSE; |
735 | UART1_Request_NaviData = FALSE; |
733 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
736 | LastTransmittedFCStatusFlags2 = NaviData.FCStatusFlags2; |
734 | } |
737 | } |
735 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |
738 | else if( (( (UART1_DebugData_Interval > 0) && CheckDelay(UART1_DebugData_Timer)) || UART1_Request_DebugData) && (UART1_tx_buffer.Locked == FALSE)) |