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| Rev 155 | Rev 156 | ||
|---|---|---|---|
| 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; |