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| Rev 848 | Rev 852 | ||
|---|---|---|---|
| Line 83... | Line 83... | ||
| 83 | #include "crc16.h" |
83 | #include "crc16.h" |
| 84 | #include "eeprom.h" |
84 | #include "eeprom.h" |
| 85 | #include "triggerlog.h" |
85 | #include "triggerlog.h" |
| 86 | #include "settings.h" |
86 | #include "settings.h" |
| 87 | #include "MobileMenu.h" |
87 | #include "MobileMenu.h" |
| - | 88 | #include "CamCtrl.h" |
|
| Line 88... | Line 89... | ||
| 88 | 89 | ||
| 89 | #define LIC_CMD_READ_LICENSE 1 |
90 | #define LIC_CMD_READ_LICENSE 1 |
| 90 | #define LIC_CMD_WRITE_LICENSE 2 |
91 | #define LIC_CMD_WRITE_LICENSE 2 |
| Line 107... | Line 108... | ||
| 107 | NaviData_Tiny_t NaviData_Tiny; |
108 | NaviData_Tiny_t NaviData_Tiny; |
| 108 | NaviData_FS_Pos_t NaviData_Failsafe; |
109 | NaviData_FS_Pos_t NaviData_Failsafe; |
| 109 | NaviData_Out_t NaviData_Out1Trigger; |
110 | NaviData_Out_t NaviData_Out1Trigger; |
| 110 | NaviData_t NaviData; |
111 | NaviData_t NaviData; |
| 111 | NaviData_HoTT_Text_t NaviData_HoTT_Text; |
112 | NaviData_HoTT_Text_t NaviData_HoTT_Text; |
| - | 113 | WP_MissionParameter_t WP_MissionParameter; |
|
| - | 114 | NaviData_Laser_t NaviData_Laser; |
|
| Line 112... | Line 115... | ||
| 112 | 115 | ||
| 113 | u8 UART1_Request_VersionInfo = FALSE; |
116 | u8 UART1_Request_VersionInfo = FALSE; |
| 114 | u8 UART1_Request_ExternalControl= FALSE; |
117 | u8 UART1_Request_ExternalControl= FALSE; |
| 115 | u8 UART1_Request_Display = FALSE; |
118 | u8 UART1_Request_Display = FALSE; |
| Line 134... | Line 137... | ||
| 134 | u8 UART1_Request_LicenseString = FALSE; |
137 | u8 UART1_Request_LicenseString = FALSE; |
| 135 | u8 UART1_Request_PPM_Channels = FALSE; |
138 | u8 UART1_Request_PPM_Channels = FALSE; |
| 136 | u8 UART1_Request_MobileLabel = 0xff; |
139 | u8 UART1_Request_MobileLabel = 0xff; |
| 137 | u8 UART1_Request_MobileMenu = 0; |
140 | u8 UART1_Request_MobileMenu = 0; |
| 138 | u8 UART1_Request_MobileInfo = 0; |
141 | u8 UART1_Request_MobileInfo = 0; |
| - | 142 | u8 UART1_Request_MissonParameter = 0; |
|
| - | 143 | u8 StopAllAbbos = 0; |
|
| Line 139... | Line 144... | ||
| 139 | 144 | ||
| 140 | u8 LastTransmittedFCStatusFlags2 = 0; |
145 | u8 LastTransmittedFCStatusFlags2 = 0; |
| 141 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
146 | u8 UART1_ExternalControlConfirmFrame = FALSE; |
| 142 | u8 Send_NMEA_RMC = FALSE; |
147 | u8 Send_NMEA_RMC = FALSE; |
| Line 694... | Line 699... | ||
| 694 | WPL_Answer.Index = WPL_Store.Index; // echo Index in cmd answer |
699 | WPL_Answer.Index = WPL_Store.Index; // echo Index in cmd answer |
| 695 | WPL_Answer.Status = PointList_WriteToFile(&WPL_Store); |
700 | WPL_Answer.Status = PointList_WriteToFile(&WPL_Store); |
| 696 | UART1_Request_WPLStore = TRUE; |
701 | UART1_Request_WPLStore = TRUE; |
| 697 | break; |
702 | break; |
| Line 698... | Line 703... | ||
| 698 | 703 | ||
| 699 | case 'j':// Set/Get NC-Parameter |
704 | case 'j': |
| 700 | switch(SerialMsg.pData[0]) |
705 | switch(SerialMsg.pData[0]) |
| 701 | { |
706 | { |
| - | 707 | case 0: // Get NC-Parameter |
|
| - | 708 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
|
| 702 | case 0: // get |
709 | UART1_Request_Parameter = TRUE; |
| Line 703... | Line 710... | ||
| 703 | break; |
710 | break; |
| 704 | 711 | ||
| 705 | case 1: // set |
712 | case 1: // Set NC-Parameter |
| 706 | { |
713 | { |
| 707 | s16 value; |
714 | s16 value; |
| - | 715 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
|
| - | 716 | NCParams_SetValue(SerialMsg.pData[1], &value); |
|
| 708 | value = SerialMsg.pData[2] + (s16)SerialMsg.pData[3] * 0x0100; |
717 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
| 709 | NCParams_SetValue(SerialMsg.pData[1], &value); |
718 | UART1_Request_Parameter = TRUE; |
| - | 719 | } |
|
| - | 720 | break; |
|
| - | 721 | case 3: // Get Mission-Parameter |
|
| 710 | } |
722 | UART1_Request_MissonParameter = SerialMsg.pData[0]; |
| - | 723 | break; |
|
| - | 724 | ||
| - | 725 | case 4: // Set Mission-Parameter |
|
| - | 726 | memcpy(&WP_MissionParameter, &SerialMsg.pData[1], sizeof(WP_MissionParameter)); |
|
| - | 727 | UART1_Request_MissonParameter = SerialMsg.pData[0]; // answer request with 4 |
|
| - | 728 | break; |
|
| - | 729 | case 5: // stop all abbos |
|
| - | 730 | StopAllAbbos = 1; |
|
| 711 | break; |
731 | break; |
| 712 | 732 | ||
| 713 | default: |
733 | default: |
| 714 | break; |
- | |
| 715 | } |
- | |
| 716 | UART1_Request_ParameterId = SerialMsg.pData[1]; |
734 | break; |
| 717 | UART1_Request_Parameter = TRUE; |
735 | } |
| 718 | break; |
736 | break; |
| 719 | default: |
737 | default: |
| 720 | // unsupported command recieved |
738 | // unsupported command recieved |
| Line 1137... | Line 1155... | ||
| 1137 | // if(Out1TriggerUpdateNewData && MaxBytesPerSecond > 200) // (only if the data link can transmit more than 200Bytes per secons) -> it wouldn't fit into the data-flow if there are too few bytes available |
1155 | // if(Out1TriggerUpdateNewData && MaxBytesPerSecond > 200) // (only if the data link can transmit more than 200Bytes per secons) -> it wouldn't fit into the data-flow if there are too few bytes available |
| 1138 | // sent += SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
1156 | // sent += SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung |
| Line 1139... | Line 1157... | ||
| 1139 | 1157 | ||
| 1140 | switch(state++) |
1158 | switch(state++) |
| - | 1159 | { |
|
| 1141 | { |
1160 | case 0: if(LaserCtrlTimeout > 0) // send only, if LaserCtrl is connected |
| - | 1161 | { |
|
| - | 1162 | NaviData_Laser.Index = 20; |
|
| - | 1163 | NaviData_Laser.ActualLongitude = NaviData.CurrentPosition.Longitude; |
|
| - | 1164 | NaviData_Laser.ActualLatitude = NaviData.CurrentPosition.Latitude; |
|
| - | 1165 | NaviData_Laser.Altimeter_5cm = NaviData.Altimeter_5cm; |
|
| - | 1166 | NaviData_Laser.GroundSpeed = NaviData.GroundSpeed / 10; |
|
| - | 1167 | NaviData_Laser.OSDStatusFlags = (FC.StatusFlags & OSD_FLAG_MASK1) | (FC.StatusFlags2 & OSD_FLAG_MASK2); |
|
| - | 1168 | NaviData_Laser.Distance = FromLaserCtrl.Distance; |
|
| - | 1169 | sent += MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'O', NC_ADDRESS, 1 , (u8 *)&NaviData_Laser, sizeof(NaviData_Laser)) + 1; |
|
| - | 1170 | break; |
|
| 1142 | case 0: |
1171 | } |
| 1143 | case 6: |
1172 | case 6: |
| 1144 | case 5: |
1173 | case 5: |
| 1145 | // belegt 35 ASCII-Zeichen |
1174 | // belegt 35 ASCII-Zeichen |
| 1146 | NaviData_Flags.Index = 11; |
1175 | NaviData_Flags.Index = 11; |
| Line 1356... | Line 1385... | ||
| 1356 | void UART1_TransmitTxData(void) |
1385 | void UART1_TransmitTxData(void) |
| 1357 | { |
1386 | { |
| 1358 | static u8 motorindex1 = 255, motorindex2 = 0; |
1387 | static u8 motorindex1 = 255, motorindex2 = 0; |
| 1359 | if(DebugUART != UART1) return; |
1388 | if(DebugUART != UART1) return; |
| Line 1360... | Line 1389... | ||
| 1360 | 1389 | ||
| 1361 | if(CheckDelay(UART1_AboTimeOut)) |
1390 | if(CheckDelay(UART1_AboTimeOut) || StopAllAbbos) |
| 1362 | { |
1391 | { |
| 1363 | UART1_DebugData_Interval = 0; |
1392 | UART1_DebugData_Interval = 0; |
| 1364 | UART1_NaviData_Interval = 0; |
1393 | UART1_NaviData_Interval = 0; |
| 1365 | UART1_NaviData_MaxBytes = 0; |
1394 | UART1_NaviData_MaxBytes = 0; |
| Line 1368... | Line 1397... | ||
| 1368 | UART1_MotorData_Interval = 0; |
1397 | UART1_MotorData_Interval = 0; |
| 1369 | UART1_NaviData_Timer = SetDelay(500); |
1398 | UART1_NaviData_Timer = SetDelay(500); |
| 1370 | UART1_AboTimeOut = SetDelay(1000); |
1399 | UART1_AboTimeOut = SetDelay(1000); |
| 1371 | UART1_MobileMenu_Timer = 0; |
1400 | UART1_MobileMenu_Timer = 0; |
| 1372 | TransmitNavigationData(0,1); // clear the CRC values |
1401 | TransmitNavigationData(0,1); // clear the CRC values |
| - | 1402 | StopAllAbbos = 0; |
|
| 1373 | } |
1403 | } |
| 1374 | //if(UART1_NaviData_MaxBytes > 150) UART1_NaviData_MaxBytes = 150; |
1404 | //if(UART1_NaviData_MaxBytes > 150) UART1_NaviData_MaxBytes = 150; |
| 1375 | //UART1_NaviData_MaxBytes = 150; |
1405 | //UART1_NaviData_MaxBytes = 150; |
| 1376 | /* |
1406 | /* |
| 1377 | #define CHK_MIN_INTERVAL(a,b) {if(a && a < b) a = b;} |
1407 | #define CHK_MIN_INTERVAL(a,b) {if(a && a < b) a = b;} |
| Line 1390... | Line 1420... | ||
| 1390 | s16 ParamValue; |
1420 | s16 ParamValue; |
| 1391 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
1421 | NCParams_GetValue(UART1_Request_ParameterId, &ParamValue); |
| 1392 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
1422 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_ParameterId, sizeof(UART1_Request_ParameterId), &ParamValue, sizeof(ParamValue)); // answer the param request |
| 1393 | UART1_Request_Parameter = FALSE; |
1423 | UART1_Request_Parameter = FALSE; |
| 1394 | } |
1424 | } |
| - | 1425 | else if(UART1_Request_MissonParameter && (UART1_tx_buffer.Locked == FALSE)) |
|
| - | 1426 | { |
|
| - | 1427 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'J', NC_ADDRESS, 2, &UART1_Request_MissonParameter, sizeof(UART1_Request_MissonParameter), &WP_MissionParameter, sizeof(WP_MissionParameter)); // answer the param request |
|
| - | 1428 | UART1_Request_MissonParameter = 0; |
|
| - | 1429 | } |
|
| 1395 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
1430 | else if(UART1_Request_Echo && (UART1_tx_buffer.Locked == FALSE)) |
| 1396 | { |
1431 | { |
| 1397 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
1432 | MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request |
| 1398 | Echo = 0; // reset echo value |
1433 | Echo = 0; // reset echo value |
| 1399 | UART1_Request_Echo = FALSE; |
1434 | UART1_Request_Echo = FALSE; |