/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!! */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <string.h>
#include "91x_lib.h"
#include "main.h"
#include "config.h"
#include "menu.h"
#include "GPS.h"
#include "i2c.h"
#include "uart0.h"
#include "uart1.h"
#include "uart2.h"
#include "timer1.h"
#include "timer2.h"
#include "analog.h"
#include "compass.h"
#include "waypoints.h"
#include "mkprotocol.h"
#include "params.h"
#include "fifo.h"
#include "debug.h"
#include "spi_slave.h"
#include "ftphelper.h"
#include "led.h"
#include "fat16.h"
#include "crc16.h"
#include "eeprom.h"
#include "triggerlog.h"
#include "settings.h"
#include "MobileMenu.h"
#include "CamCtrl.h"
#define LIC_CMD_READ_LICENSE 1
#define LIC_CMD_WRITE_LICENSE 2
#define LIC_CMD_ERASE_LICENSE 3
#define FALSE 0
#define TRUE 1
const u32 BAUDRATES
[MAX_BD_RATES
] = {1200,2400,4800,9600,14400,19200,28800,38400,57600,115200,256000};
#define ABO_TIMEOUT 8000 // disable abo after 8 seconds
u32 UART1_AboTimeOut
= 0;
NaviData_Volatile_t NaviData_Volatile
;
NaviData_WP_t NaviData_WP
;
NaviData_Deviation_t NaviData_Deviation
;
NaviData_Home_t NaviData_Home
;
NaviData_Target_t NaviData_Target
;
NaviData_Flags_t NaviData_Flags
;
NaviData_Tiny_t NaviData_Tiny
;
NaviData_FS_Pos_t NaviData_Failsafe
;
NaviData_Out_t NaviData_Out1Trigger
;
NaviData_t NaviData
;
NaviData_HoTT_Text_t NaviData_HoTT_Text
;
WP_MissionParameter_t WP_MissionParameter
;
NaviData_Laser_t NaviData_Laser
;
u8 UART1_Request_VersionInfo
= FALSE
;
u8 UART1_Request_ExternalControl
= FALSE
;
u8 UART1_Request_Display
= FALSE
;
u8 UART1_Request_Display1
= FALSE
;
u8 UART1_Request_DebugData
= FALSE
;
u8 UART1_Request_DebugLabel
= 255;
u8 UART1_Request_NaviData
= FALSE
;
u8 UART1_Request_ErrorMessage
= FALSE
;
u8 UART1_Request_WritePoint
= 0xFF;
u8 UART1_Request_ReadPoint
= 0;
u8 UART1_Request_Data3D
= FALSE
;
u8 UART1_Request_MotorData
= FALSE
;
u8 UART1_Request_Echo
= FALSE
;
u8 UART1_Request_ParameterId
= 0;
u8 UART1_Request_WPLStore
= FALSE
;
u8 UART1_Request_Parameter
= FALSE
;
u8 UART1_Request_SystemTime
= FALSE
;
u8 UART1_DisplayKeys
= 0;
u8 UART1_DisplayLine
= 0;
u8 UART1_ConfirmFrame
= 0;
u8 UART1_Request_FTP
= FALSE
;
u8 UART1_Request_LicenseString
= FALSE
;
u8 UART1_Request_PPM_Channels
= FALSE
;
u8 UART1_Request_MobileLabel
= 0xff;
u8 UART1_Request_MobileMenu
= 0;
u8 UART1_Request_MobileInfo
= 0;
u8 UART1_Request_MissonParameter
= 0;
u8 StopAllAbbos
= 0;
u8 FTP_Mode
= 0; // PC initiates FTP-Mode
u8 FromKopterToolFlags
[7] = {0,0,0,0,0,0,0};
u8 LastTransmittedFCStatusFlags2
= 0;
u8 UART1_ExternalControlConfirmFrame
= FALSE
;
u8 Send_NMEA_RMC
= FALSE
;
u8 NaviData_Flags_SpeakHoTT_Processed
= 0;
u8 NewExternalControlFrame
= 0; // flag that sends the Frame to FC
u16 UART1_BaudrateFallbackTimeout
= 0;
u32 Uart1Baudrate
= UART1_BAUD_RATE
;
u8 FromFC_ExternalCtrlCfg
= 0,FromFC_ExternalCtrlSwitch
= 0; // answer from FC
SerialChannel_t SerialChannel
;
u8 NewSerialChannelFrame
= 0; // flag that sends the Frame to FC
UART_TypeDef
*DebugUART
= UART1
;
#ifdef FOLLOW_ME
#define FOLLOW_ME_INTERVAL 200 // 5 Hz
#define HOME_INTERVAL 400 // 2,5 Hz
u32 UART1_FollowMe_Timer
= 0;
Point_t FollowMe
;
#endif
// the primary rx fifo
#define UART1_RX_FIFO_LEN 1500
u8 UART1_rxfifobuffer
[UART1_RX_FIFO_LEN
];
fifo_t UART1_rx_fifo
;
// the rx buffer
#define UART1_RX_BUFFER_LEN 1500
u8 UART1_rbuffer
[UART1_RX_BUFFER_LEN
];
Buffer_t UART1_rx_buffer
;
// the tx buffer
//#define UART1_TX_BUFFER_LEN 1024
#define UART1_TX_BUFFER_LEN 1500
u8 UART1_tbuffer
[UART1_TX_BUFFER_LEN
];
Buffer_t UART1_tx_buffer
;
volatile u8 SerialLinkOkay
= 0;
u8 text
[200];
u8
*LicensePtr
= UART1_tbuffer
;
const u8 ANALOG_LABEL
[32][16] =
{
//1234567890123456
"AngleNick ", //0
"AngleRoll ",
"AccNick ",
"AccRoll ",
"Altitude [0.1m] ",
"FC-Flags ", //5
"NC-Flags ",
"Voltage [0.1V] ",
"Current [0.1A] ",
"GPS Data ",
"CompassHeading ", //10
"GyroHeading ",
"SPI Error ", // achtung: muss auf 12 bleiben
"Laser [cm] ",//"GPS CRC Error ",
"I2C Error ",
"I2C Okay ", //15
"16 ",
"17 ",
"18 ",
"19 ",
"EarthMagnet [%] ", //20
"Ground Speed ", // "Z_Speed ",
"N_Speed ",
"E_Speed ",
"Magnet X ",
"Magnet Y ", //25
"Magnet Z ",
"Distance N ",
"Distance E ",
"-GPS_Nick ",
"-GPS_Roll ", //30
"Used_Sats "
};
typedef struct
{
u8 Index
;
u8 Status
;
} __attribute__
((packed
)) WPL_Answer_t
;
WPL_Answer_t WPL_Answer
;
DebugOut_t DebugOut
;
ExternControl_t ExternControl
;
UART_VersionInfo_t UART_VersionInfo
;
NaviData_t NaviData
;
Data3D_t Data3D
;
u16 Echo
; // 2 bytes recieved will be sent back as echo
u32 UART1_DebugData_Timer
= 0;
u32 UART1_DebugData_Interval
= 0; // in ms
u32 UART1_NaviData_Timer
= 0;
u32 UART1_NaviData_Interval
= 0; // in ms
u16 UART1_NaviData_MaxBytes
= 0; // newer protocol?
u32 UART1_Data3D_Timer
= 0;
u32 UART1_Data3D_Interval
= 0; // in ms
u32 UART1_MotorData_Timer
= 0;
u32 UART1_MotorData_Interval
= 0; // in ms
u32 UART1_Display_Timer
= 0;
u32 UART1_Display_Interval
= 0; // in ms
u32 UART1_MobileMenu_Timer
= 0;
u32 NMEA_Timer
= 0;
u32 NMEA_Interval
= 0;// in ms
void GetBaudrateFromSdCard
(u32 oldBd
)
{
u16 baud
;
if(Settings_GetParamValue
(PID_BAUDRATE
,&baud
))
{
u8 i
;
Uart1Baudrate
= baud
* 100;
for(i
=0;i
<MAX_BD_RATES
;i
++) if(Uart1Baudrate
== BAUDRATES
[i
]) break; // search the index and check if it is a valid baudrate
if(i
== 0 || i
>= MAX_BD_RATES
)
{
UART1_PutString
(" Unknown!");
ToFcBaudrateIndex
= 8;
Uart1Baudrate
= UART1_BAUD_RATE
;
}
ToFcBaudrateIndex
= i
;
WriteBaudrateIndexToEEprom
();
if(Uart1Baudrate
!= oldBd
)
{
u8 msg
[30];
sprintf(msg
, "\r\n -> Changing Baudrate to:%iBd (%u)\n\r",Uart1Baudrate
, ToFcBaudrateIndex
);
UART1_PutString
(msg
);
DELAY
(100);
UART1_Init
();
}
} else if(oldBd
!= 57600) UART1_PutString
("\r\n No Baudrate on the SD-Card");
}
u8 CalculateDebugLableCrc
(void)
{
u16 i
;
u8 crc
= 0;
for(i
=0;i
<sizeof(ANALOG_LABEL
);i
++) crc
+= ANALOG_LABEL
[0][i
];
return(crc
);
}
/********************************************************/
/* Initialization the UART1 */
/********************************************************/
void UART1_Init
(void)
{
GPIO_InitTypeDef GPIO_InitStructure
;
UART_InitTypeDef UART_InitStructure
;
// initialize txd buffer
Buffer_Init
(&UART1_tx_buffer
, UART1_tbuffer
, UART1_TX_BUFFER_LEN
);
// initialize rxd buffer
Buffer_Init
(&UART1_rx_buffer
, UART1_rbuffer
, UART1_RX_BUFFER_LEN
);
// initialize the rx fifo, block UART IRQ geting a byte from fifo
fifo_init
(&UART1_rx_fifo
, UART1_rxfifobuffer
, UART1_RX_FIFO_LEN
, NO_ITLine
, UART1_ITLine
);
SCU_APBPeriphClockConfig
(__UART1
, ENABLE
); // Enable the UART1 Clock
SCU_APBPeriphClockConfig
(__GPIO3
, ENABLE
); // Enable the GPIO3 Clock
/*Configure UART1_Rx pin GPIO3.2*/
GPIO_StructInit
(&GPIO_InitStructure
);
GPIO_InitStructure.
GPIO_Direction = GPIO_PinInput
;
GPIO_InitStructure.
GPIO_Pin = GPIO_Pin_2
;
GPIO_InitStructure.
GPIO_Type = GPIO_Type_PushPull
;
GPIO_InitStructure.
GPIO_IPInputConnected = GPIO_IPInputConnected_Enable
;
GPIO_InitStructure.
GPIO_Alternate = GPIO_InputAlt1
; // UART1_RxD
GPIO_Init
(GPIO3
, &GPIO_InitStructure
);
/*Configure UART1_Tx pin GPIO3.3*/
GPIO_StructInit
(&GPIO_InitStructure
);
GPIO_InitStructure.
GPIO_Direction = GPIO_PinOutput
;
GPIO_InitStructure.
GPIO_Pin = GPIO_Pin_3
;
GPIO_InitStructure.
GPIO_Type = GPIO_Type_PushPull
;
GPIO_InitStructure.
GPIO_Alternate = GPIO_OutputAlt2
; // UART1_TX
GPIO_Init
(GPIO3
, &GPIO_InitStructure
);
// Control of PORT3.7 (FC-UART)
GPIO_StructInit
(&GPIO_InitStructure
);
GPIO_InitStructure.
GPIO_Direction = GPIO_PinOutput
;
GPIO_InitStructure.
GPIO_Pin = GPIO_Pin_7
;
GPIO_InitStructure.
GPIO_Type = GPIO_Type_PushPull
;
GPIO_InitStructure.
GPIO_Alternate = GPIO_OutputAlt1
;
GPIO_Init
(GPIO3
, &GPIO_InitStructure
);
DISABLE_FC_UART
;
/* UART1 configured as follow:
- Word Length = 8 Bits
- One Stop Bit
- No parity
- BaudRate = 57600 baud
- Hardware flow control Disabled
- Receive and transmit enabled
- Receive and transmit FIFOs are Disabled
*/
UART_StructInit
(&UART_InitStructure
);
UART_InitStructure.
UART_WordLength = UART_WordLength_8D
;
UART_InitStructure.
UART_StopBits = UART_StopBits_1
;
UART_InitStructure.
UART_Parity = UART_Parity_No
;
UART_InitStructure.
UART_BaudRate = Uart1Baudrate
;
UART_InitStructure.
UART_HardwareFlowControl = UART_HardwareFlowControl_None
;
UART_InitStructure.
UART_Mode = UART_Mode_Tx_Rx
;
UART_InitStructure.
UART_FIFO = UART_FIFO_Enable
;
UART_InitStructure.
UART_TxFIFOLevel = UART_FIFOLevel_1_2
;
UART_InitStructure.
UART_RxFIFOLevel = UART_FIFOLevel_1_2
; // FIFO size 16 bytes, FIFO level 8 bytes
UART_DeInit
(UART1
); // reset uart 1 to default
UART_Init
(UART1
, &UART_InitStructure
); // initialize uart 1
// enable uart 1 interrupts selective
UART_ITConfig
(UART1
, UART_IT_Receive
| UART_IT_ReceiveTimeOut
, ENABLE
);
UART_Cmd
(UART1
, ENABLE
); // enable uart 1
// configure the uart 1 interupt line
VIC_Config
(UART1_ITLine
, VIC_IRQ
, PRIORITY_UART1
);
// enable the uart 1 IRQ
VIC_ITCmd
(UART1_ITLine
, ENABLE
);
// initialize the debug timer
UART1_DebugData_Timer
= SetDelay
(UART1_DebugData_Interval
);
UART1_NaviData_Timer
= SetDelay
(UART1_NaviData_Interval
)+500;
NMEA_Timer
= SetDelay
(14000);
// Fill Version Info Structure
UART_VersionInfo.
SWMajor = VERSION_MAJOR
;
UART_VersionInfo.
SWMinor = VERSION_MINOR
;
UART_VersionInfo.
SWPatch = VERSION_PATCH
;
UART_VersionInfo.
ProtoMajor = VERSION_SERIAL_MAJOR
;
UART_VersionInfo.
HWMajor = Version_HW
& 0x7F;
UART_VersionInfo.
BL_Firmware = 255;
UART_VersionInfo.
Flags = 0;
UART_VersionInfo.
LabelTextCRC = CalculateDebugLableCrc
();
NaviData.
Version = NAVIDATA_VERSION
;
PPM_In
[PPM_IN_MAX
] = +127;
PPM_In
[PPM_IN_OFF
] = -127;
PPM_In
[PPM_IN_MID
] = 0;
// UART1_PutString("\r\n UART1 init...ok");
}
/****************************************************************/
/* USART1 change baudrate */
/****************************************************************/
void UART1_Configure
(u32 baudrate
)
{
UART_InitTypeDef UART_InitStructure
;
UART_Cmd
(UART1
, DISABLE
);
UART_StructInit
(&UART_InitStructure
);
UART_InitStructure.
UART_WordLength = UART_WordLength_8D
;
UART_InitStructure.
UART_StopBits = UART_StopBits_1
;
UART_InitStructure.
UART_Parity = UART_Parity_No
;
UART_InitStructure.
UART_BaudRate = baudrate
;
UART_InitStructure.
UART_HardwareFlowControl = UART_HardwareFlowControl_None
;
UART_InitStructure.
UART_Mode = UART_Mode_Tx_Rx
;
UART_InitStructure.
UART_FIFO = UART_FIFO_Enable
;
UART_InitStructure.
UART_TxFIFOLevel = UART_FIFOLevel_1_2
;
UART_InitStructure.
UART_RxFIFOLevel = UART_FIFOLevel_1_2
; // FIFO size 16 bytes, FIFO level 8 bytes
UART_DeInit
(UART1
); // reset uart 1 to default
UART_Init
(UART1
, &UART_InitStructure
); // initialize uart 1
UART_ITConfig
(UART1
, UART_IT_Receive
| UART_IT_ReceiveTimeOut
, ENABLE
);
UART_Cmd
(UART1
, ENABLE
); // enable uart 1
}
/****************************************************************/
/* USART1 receiver ISR */
/****************************************************************/
void UART1_IRQHandler
(void)
{
static u8 abortState
= 0;
u8 c
;
if((UART_GetITStatus
(UART1
, UART_IT_Receive
) != RESET
) || (UART_GetITStatus
(UART1
, UART_IT_ReceiveTimeOut
) != RESET
) )
{
// clear the pending bits!
UART_ClearITPendingBit
(UART1
, UART_IT_Receive
);
UART_ClearITPendingBit
(UART1
, UART_IT_ReceiveTimeOut
);
// if debug UART is not UART1
if (DebugUART
!= UART1
)
{ // forward received data to the debug UART tx buffer
while(UART_GetFlagStatus
(UART1
, UART_FLAG_RxFIFOEmpty
) != SET
)
{
// move the byte from the rx buffer of UART1 to the tx buffer of DebugUART
c
= UART_ReceiveData
(UART1
);
// check for abort condition (ESC ESC 0x55 0xAA 0x00)
switch (abortState
)
{
case 0:
if (c
== 27) abortState
++;
break;
case 1:
if (c
== 27) abortState
++;
else abortState
= 0;
break;
case 2:
if (c
== 0x55) abortState
++;
else abortState
= 0;
break;
case 3:
if (c
== 0xAA) abortState
++;
else abortState
= 0;
break;
case 4:
if (c
== 0x00)
{
if(DebugUART
== UART0
)
{
UART0_Connect_to_MKGPS
(UART0_BAUD_RATE
);
TIMER2_Init
(); // enbable servo outputs
fifo_purge
(&UART1_rx_fifo
); // flush the whole fifo init buffer
}
DebugUART
= UART1
;
DISABLE_FC_UART
;
}
abortState
= 0;
break;
} // end switch abort state
// if the Debug uart is not UART1, redirect input to the Debug UART
if (DebugUART
!= UART1
)
{
// wait for space in the tx buffer of the DebugUART
while(UART_GetFlagStatus
(DebugUART
, UART_FLAG_TxFIFOFull
) == SET
) {};
// move byte to the tx fifo of the debug uart
UART_SendData
(DebugUART
, c
);
}
}
}
else // DebugUART == UART1 (normal operation)
{
while(UART_GetFlagStatus
(UART1
, UART_FLAG_RxFIFOEmpty
) != SET
)
{ // some byes in the hardware fifo
// get byte from hardware fifo
c
= UART_ReceiveData
(UART1
);
// put into the software fifo
if(!fifo_put
(&UART1_rx_fifo
, c
))
{ // fifo overflow
//fifo_purge(&UART1_rx_fifo); // flush the whole buffer
}
} // EOF while some byes in the hardware fifo
} // eof DebugUart = UART1
}
VIC1
->VAR
= 0xFF; // write any value to VIC1 Vector address register
}
/**************************************************************/
/* Process incomming data from debug uart */
/**************************************************************/
void UART1_ProcessRxData
(void)
{
// return on forwarding uart or unlocked rx buffer
u8 c
;
if(DebugUART
!= UART1
) return;
// if rx buffer is not locked
if(UART1_rx_buffer.
Locked == FALSE
)
{
//collect data from primary rx fifo
while(fifo_get
(&UART1_rx_fifo
, &c
))
{
// break if complete frame is collected
if(MKProtocol_CollectSerialFrame
(&UART1_rx_buffer
, c
)) break;
}
}
if(UART1_rx_buffer.
Locked == FALSE
) return;
Point_t
* pPoint
= NULL
;
SerialMsg_t SerialMsg
;
// analyze header first
MKProtocol_DecodeSerialFrameHeader
(&UART1_rx_buffer
, &SerialMsg
);
/*
if( SerialMsg.Address == FC_ADDRESS )
{
switch(SerialMsg.CmdID)
{
// case 'b': // extern control
// UART1_ExternalControlConfirmFrame = 1;
// case 'y': // serial poti values
// Buffer_Copy(&UART1_rx_buffer, &UART2_tx_buffer); //forward to FC
// Buffer_Clear(&UART1_rx_buffer); // free rc buffer for next frame
// return; //end process rx data
break;
}
}
*/
MKProtocol_DecodeSerialFrameData
(&UART1_rx_buffer
, &SerialMsg
); // decode serial frame in rxd buffer
if(SerialMsg.
CmdID != 'z') SerialLinkOkay
= 250; // reset SerialTimeout, but not in case of the "ping"
switch(SerialMsg.
Address) // check for Slave Address
{
case NC_ADDRESS
: // own Slave Address
switch(SerialMsg.
CmdID)
{
case 'n':// request for the labels of the analog debug outputs
switch(SerialMsg.
pData[0])
{
case MOBILE_LABLE
:
UART1_Request_MobileLabel
= SerialMsg.
pData[1];
if(UART1_Request_MobileLabel
> MOBILE_MAX_MENU
) UART1_Request_MobileLabel
= MOBILE_MAX_MENU
;
break;
case MOBILE_MENU
:
UART1_Request_MobileMenu
= 1;
memcpy(&MobileDataRequest.
MenuItem, &SerialMsg.
pData[1],sizeof(MobileDataRequest
)); // copy
break;
case MOBILE_INFO
:
UART1_Request_MobileInfo
= 1;
break;
}
break;
case 't': // request for the GPS time
UART1_Request_SystemTime
= TRUE
;
break;
case 'm': // request for the license string
UART1_Request_LicenseString
= SerialMsg.
pData[0];
if((UART1_Request_LicenseString
== LIC_CMD_WRITE_LICENSE
) && (UART_VersionInfo.
HWMajor >= 20))
{
memcpy(LicensePtr
, &SerialMsg.
pData[1],LICENSE_SIZE_TEXT
); // copy license
memcpy(&LicensePtr
[460], &SerialMsg.
pData[1+460],OEM_NAME_LENGHT
); // copy license
}
break;
case 'f': // ftp command
UART1_Request_FTP
= SerialMsg.
pData[0];
//if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE)
FTP_Mode
= 1;
memcpy(&FTP_data
, &SerialMsg.
pData[1], sizeof(FTP_data
)); // copy ftp parameter
break;
case 'z': // connection checker
memcpy(&Echo
, SerialMsg.
pData, sizeof(Echo
)); // copy echo pattern
UART1_Request_Echo
= TRUE
;
break;
case 'e': // request for the text of the error status
UART1_Request_ErrorMessage
= TRUE
;
break;
case 's':// new target position
pPoint
= (Point_t
*)SerialMsg.
pData;
if(pPoint
->Position.
Status == NEWDATA
)
{
u32 start
= 0;
if(pPoint
->Type
== POINT_TYPE_HOME
) // Set new Home-Pos.
{
GPSPos_Copy_to_Home
(&(pPoint
->Position
)); // update home position
BeepTime
= 50;
}
else
{ // fly to -> FollowMe
PointList_SetAt
(pPoint
);
if(FC.
StatusFlags & FC_STATUS_FLY
) PointList_WPActive
(TRUE
);
if(pPoint
->Index
) start
= pPoint
->Index
-1;
if(CurrentlyFlyingWaypoints
)
{
GPS_pWaypoint
= PointList_WPBegin
(start
);
NewWaypointsReceived
= 0; // Only an update
}
BeepTime
= 50;
}
}
else
if((pPoint
->Position.
Status == SIMULATION
) && !(FC.
RealStatusFlags & FC_STATUS_MOTOR_RUN
))
{
if(pPoint
->Event_Flag
& SIMULATION_MOTOR_ON
)
{
GPSPos_Copy
(&(pPoint
->Position
), &SimulationPosition
); // update hold position
CompassDirectionAtMotorStart
= SimulatedDirection
*10;
SimulationFlags
= pPoint
->Event_Flag
| SIMULATION_MOTOR_START
; // dann steht da noch nicht "SIMULATION_MOTOR_ON" drin
}
if(!(SimulationFlags
& SIMULATION_MOTOR_ON
) && (pPoint
->Event_Flag
& SIMULATION_MOTOR_ON
))
{
SimulationFlags
= pPoint
->Event_Flag
| SIMULATION_MOTOR_START
; // dann steht da noch nicht "SIMULATION_MOTOR_ON" drin
SpeakHoTT
= SPEAK_STARTING
;
}
else
if(!(pPoint
->Event_Flag
& SIMULATION_MOTOR_ON
) && (SimulationFlags
& SIMULATION_MOTOR_ON
))
{
SimulationFlags
= pPoint
->Event_Flag
;
SpeakHoTT
= SPEAK_MK_OFF
;
BeepTime
= 50;
}
else
SimulationFlags
= pPoint
->Event_Flag
| (SimulationFlags
& SIMULATION_MOTOR_START
);
}
break;
case 'u': // redirect debug uart
switch(SerialMsg.
pData[0])
{
case UART_FLIGHTCTRL
:
ENABLE_FC_UART
;
UART2_Init
(); // initialize UART2 to FC pins
fifo_purge
(&UART1_rx_fifo
);
TIMER2_Deinit
(); // reduce irq load
DebugUART
= UART2
;
break;
case UART_MK3MAG
:
if(FC.
StatusFlags & FC_STATUS_MOTOR_RUN
) break; // not if the motors are running
UART0_Connect_to_MK3MAG
(); // mux UART0 to MK3MAG pins
GPSData.
Status = INVALID
;
fifo_purge
(&UART1_rx_fifo
);
DebugUART
= UART0
;
break;
case UART_MKGPS
:
if(FC.
StatusFlags & FC_STATUS_MOTOR_RUN
) break; // not if the motors are running
TIMER2_Deinit
(); // disable servo outputs to reduce irq load
UART0_Connect_to_MKGPS
(UART0_BAUD_RATE
); // connect UART0 to MKGPS pins
GPSData.
Status = INVALID
;
fifo_purge
(&UART1_rx_fifo
);
DebugUART
= UART0
;
break;
default:
break;
}
break;
case 'w':// Set point in list at index
{
pPoint
= (Point_t
*)SerialMsg.
pData;
UART1_AboTimeOut
= SetDelay
(ABO_TIMEOUT
);
if((pPoint
->Position.
Status == INVALID
) && (pPoint
->Index
== 0))
{
PointList_Clear
();
GPS_pWaypoint
= PointList_WPBegin
(0);
UART1_Request_WritePoint
= 0; // return new point count
NewWaypointsReceived
= 1;
}
else
{ // update WP in list at index
if(pPoint
->Index
> MaxNumberOfWaypoints
)
{
UART1_Request_WritePoint
= 254;
pPoint
->Index
= MaxNumberOfWaypoints
;
}
else UART1_Request_WritePoint
= PointList_SetAt
(pPoint
);
if(FC.
StatusFlags & FC_STATUS_FLY
) PointList_WPActive
(TRUE
);
SpeakWaypointRached
= 1; // Speak once when the last Point is reached
if(UART1_Request_WritePoint
== pPoint
->Index
)
{
BeepTime
= 500;
if(UART1_Request_WritePoint
== 1) SpeakNextWaypoint
= 1; // Speak once as soon as the Points are active
}
}
}
break;
case 'x':// Read Waypoint from List
UART1_Request_ReadPoint
= SerialMsg.
pData[0];
UART1_AboTimeOut
= SetDelay
(ABO_TIMEOUT
);
break;
case 'i':// Store WP List to file
memcpy((u8
*)&WPL_Store
, SerialMsg.
pData, sizeof(WPL_Store_t
));
WPL_Store.
Name[11] = 0; // make sure the name string is terminated
WPL_Answer.
Index = WPL_Store.
Index; // echo Index in cmd answer
WPL_Answer.
Status = PointList_WriteToFile
(&WPL_Store
);
UART1_Request_WPLStore
= TRUE
;
break;
case 'j':
switch(SerialMsg.
pData[0])
{
case 0: // Get NC-Parameter
UART1_Request_ParameterId
= SerialMsg.
pData[1];
UART1_Request_Parameter
= TRUE
;
break;
case 1: // Set NC-Parameter
{
s16 value
;
value
= SerialMsg.
pData[2] + (s16
)SerialMsg.
pData[3] * 0x0100;
NCParams_SetValue
(SerialMsg.
pData[1], &value
);
UART1_Request_ParameterId
= SerialMsg.
pData[1];
UART1_Request_Parameter
= TRUE
;
}
break;
case 3: // Get Mission-Parameter
UART1_Request_MissonParameter
= SerialMsg.
pData[0];
break;
case 4: // Set Mission-Parameter
memcpy(&WP_MissionParameter
, &SerialMsg.
pData[1], sizeof(WP_MissionParameter
));
UART1_Request_MissonParameter
= SerialMsg.
pData[0]; // answer request with 4
WP_MissionParameter.
Flags |= MISSION_DATA_RECEIVED
;
break;
case 5: // stop all abbos
StopAllAbbos
= 1;
break;
default:
break;
}
break;
default:
// unsupported command recieved
break;
} // case NC_ADDRESS
// "break;" is missing here to fall thru to the common commands
default: // and any other Slave Address
switch(SerialMsg.
CmdID) // check CmdID
{
case 'a':// request for the labels of the analog debug outputs
UART1_Request_DebugLabel
= SerialMsg.
pData[0];
if(UART1_Request_DebugLabel
> 31) UART1_Request_DebugLabel
= 31;
break;
case 'b': // submit extern control
memcpy(&ExternControl
, SerialMsg.
pData, sizeof(ExternControl
));
UART1_ConfirmFrame
= ExternControl.
Frame;
NewExternalControlFrame
= 1;
break;
case 'y': // serial Channels
memcpy(&SerialChannel
, SerialMsg.
pData, sizeof(SerialChannel
));
memcpy((u8
*) &(PPM_In
[SERIAL_POTI_START
]), (u8
*) &SerialChannel
, 12); // copy the 12 Bytes Serial Channels into the PPM_In array
NewSerialChannelFrame
= 1;
break;
case 'g':// request for the externalControl
UART1_Request_ExternalControl
= TRUE
;
break;
case 'p':// request for the PPM_In
UART1_Request_PPM_Channels
= TRUE
;
break;
case 'd': // request for debug data;
UART1_DebugData_Interval
= (u32
) SerialMsg.
pData[0] * 10;
if(UART1_DebugData_Interval
> 0) UART1_Request_DebugData
= TRUE
;
UART1_AboTimeOut
= SetDelay
(ABO_TIMEOUT
);
break;
case 'c': // request for 3D data;
UART1_Data3D_Interval
= (u32
) SerialMsg.
pData[0] * 10;
if(UART1_Data3D_Interval
> 0) UART1_Request_Data3D
= TRUE
;
UART1_AboTimeOut
= SetDelay
(ABO_TIMEOUT
);
break;
case 'k': // request for Motor data;
UART1_MotorData_Interval
= (u32
) SerialMsg.
pData[0] * 10;
if(UART1_MotorData_Interval
> 0) UART1_Request_MotorData
= TRUE
;
UART1_AboTimeOut
= SetDelay
(ABO_TIMEOUT
);
break;
case 'h':// reqest for display line
if((SerialMsg.
pData[0]& 0x80) == 0x00)// old format
{
UART1_DisplayLine
= 2;
UART1_Display_Interval
= 0;
UART1_Request_Display
= TRUE
;
}
else
{
UART1_DisplayKeys
|= ~SerialMsg.
pData[0];
UART1_Display_Interval
= (u32
) SerialMsg.
pData[1] * 10;
UART1_DisplayLine
= 4;
UART1_AboTimeOut
= SetDelay
(ABO_TIMEOUT
);
if(UART1_Display_Interval
) UART1_Request_Display
= TRUE
;
}
break;
case 'l':// reqest for display columns
MenuItem
= SerialMsg.
pData[0];
UART1_Request_Display1
= TRUE
;
break;
case 'o': // request for navigation information
UART1_NaviData_Interval
= (u32
) SerialMsg.
pData[0] * 10; // PC sends: 10 = 100ms or 20 = 200 (since 2.19)
if(SerialMsg.
DataLen > 2) UART1_NaviData_MaxBytes
= SerialMsg.
pData[1] * 256 + SerialMsg.
pData[2]; // PC sends: 4 & 0 = 1024 Bytes per second and 150 if TX-Limiting is active
else UART1_NaviData_MaxBytes
= 0;
if(UART1_NaviData_Interval
> 0) UART1_Request_NaviData
= TRUE
;
UART1_AboTimeOut
= SetDelay
(ABO_TIMEOUT
);
if(UART1_NaviData_Interval
&& UART1_NaviData_Interval
< 100) UART1_NaviData_Interval
= 100;
if(SerialMsg.
DataLen > 10) // since 2.21 (05.2019)
{
FromKopterToolFlags
[0] = SerialMsg.
pData[3];
FromKopterToolFlags
[1] = SerialMsg.
pData[4];
FromKopterToolFlags
[2] = SerialMsg.
pData[5];
FromKopterToolFlags
[3] = SerialMsg.
pData[6];
FromKopterToolFlags
[4] = SerialMsg.
pData[7];
FromKopterToolFlags
[5] = SerialMsg.
pData[8];
FromKopterToolFlags
[6] = SerialMsg.
pData[9];
}
break;
case 'v': // request for version info
if(SerialMsg.
DataLen > 0 && SerialMsg.
pData[0] == 1) UART1_Request_VersionInfo
= 1;
else UART1_Request_VersionInfo
= 2;
break;
default:
// unsupported command recieved
break;
}
break; // default:
}
Buffer_Clear
(&UART1_rx_buffer
); // free rc buffer for next frame
}
/*****************************************************/
/* Send a character */
/*****************************************************/
s16 UART1_Putchar
(char c
)
{
u32 timeout
= 10000;
if(DebugUART
!= UART1
) return(0);
if (c
== '\n') UART1_Putchar
('\r');
// wait until txd fifo is not full
while(UART_GetFlagStatus
(UART1
, UART_FLAG_TxFIFOFull
) != RESET
) if(--timeout
== 0) return(0);
// transmit byte
UART_SendData
(UART1
, c
);
#ifdef FOLLOW_ME
if(TransmitAlsoToFC
) UART_SendData
(UART2
, c
);
#endif
return (0);
}
/*****************************************************/
/* Send a string to the debug uart */
/*****************************************************/
void UART1_PutString
(u8
*s
)
{
if(DebugUART
!= UART1
) return;
if(s
== NULL
) return;
while (*s
!= '\0')
{
UART1_Putchar
(*s
);
s
++;
}
}
/**************************************************************/
/* Transmit tx buffer via debug uart */
/**************************************************************/
void UART1_Transmit
(void)
{
u8 tmp_tx
;
if(DebugUART
!= UART1
) return;
// if something has to be send and the txd fifo is not full
if(UART1_tx_buffer.
Locked == TRUE
)
{
// while there is some space in the tx fifo
while(UART_GetFlagStatus
(UART1
, UART_FLAG_TxFIFOFull
) != SET
)
{
tmp_tx
= UART1_tx_buffer.
pData[UART1_tx_buffer.
Position++]; // read next byte from txd buffer
UART_SendData
(UART1
, tmp_tx
); // put character to txd fifo
#ifdef FOLLOW_ME
if(TransmitAlsoToFC
)
{
UART_SendData
(UART2
, tmp_tx
); // put character to txd fifo
}
#endif
// if terminating character or end of txd buffer reached
if((tmp_tx
== '\0') || (UART1_tx_buffer.
Position == UART1_tx_buffer.
DataBytes))
{
Buffer_Clear
(&UART1_tx_buffer
); // clear txd buffer
#ifdef FOLLOW_ME
TransmitAlsoToFC
= 0;
#endif
break; // end while loop
}
}
}
}
//$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP
//$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45
//$GPGGA,092120.20,,,,,0,00,99.99,,,,,,*6C
//http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm
void CreateNmeaGGA
(void)
{
u8 array
[200], i
= 0, crc
= 0, x
;
s32 tmp1
, tmp2
;
i
+= sprintf(array
, "$GPGGA,");
// +++++++++++++++++++++++++++++++++++++++++++
if(SystemTime.
Valid)
{
i
+= sprintf(&array
[i
], "%02d%02d%02d.%02d,", SystemTime.
Hour, SystemTime.
Min, SystemTime.
Sec, SystemTime.
mSec/10);
}
else
{
i
+= sprintf(&array
[i
], ",");
}
// +++++++++++++++++++++++++++++++++++++++++++
if(GPSData.
Flags & FLAG_GPSFIXOK
)
{
tmp1
= abs(GPSData.
Position.
Latitude)/10000000L;
i
+= sprintf(&array
[i
],"%02d",(s16
)tmp1
);
tmp1
= abs(GPSData.
Position.
Latitude)%10000000L
;
tmp1
*= 6; // in Minuten
tmp2
= tmp1
/ 1000000L;
i
+= sprintf(&array
[i
],"%02d", (u16
)tmp2
);
tmp2
= tmp1
% 1000000L;
tmp2
/= 100; // zwei Stellen zu viel
i
+= sprintf(&array
[i
],".%04d,", (u16
)tmp2
);
if(GPSData.
Position.
Latitude >= 0) i
+= sprintf(&array
[i
],"N,");
else i
+= sprintf(&array
[i
],"S,");
// +++++++++++++++++++++++++++++++++++++++++++
tmp1
= abs(GPSData.
Position.
Longitude)/10000000L;
i
+= sprintf(&array
[i
],"%03d", (u16
)tmp1
);
tmp1
= abs(GPSData.
Position.
Longitude)%10000000L
;
tmp1
*= 6; // in Minuten
tmp2
= tmp1
/ 1000000L;
i
+= sprintf(&array
[i
],"%02d", (u16
)tmp2
);
tmp2
= tmp1
% 1000000L;
tmp2
/= 100; // zwei Stellen zu viel
i
+= sprintf(&array
[i
],".%04d,", (u16
)tmp2
);
if(GPSData.
Position.
Longitude >= 0) i
+= sprintf(&array
[i
],"E,");
else i
+= sprintf(&array
[i
],"W,");
i
+= sprintf(&array
[i
],"%d,",GPSData.
SatFix);
i
+= sprintf(&array
[i
],"%d,",GPSData.
NumOfSats);
i
+= sprintf(&array
[i
],"%d.%d,",(s16
)(GPSData.
Position_Accuracy/100),abs(GPSData.
Position_Accuracy%100));
// i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100);
tmp1
= BaroAltimeter_dm
; // in dm
i
+= sprintf(&array
[i
],"%d.%d,M,",(s16
)tmp1
/ 10,abs((s16
)tmp1
% 10));
i
+= sprintf(&array
[i
],",,,*");
}
else
{
i
+= sprintf(&array
[i
], ",,,,%d,00,99.99,,,,,,*",GPSData.
NumOfSats);
}
for(x
= 1; x
< i
-1; x
++)
{
crc
^= array
[x
];
}
i
+= sprintf(&array
[i
], "%02x%c%c",crc
,0x0d,0x0a);
AddSerialData
(&UART1_tx_buffer
,array
,i
);
// +++++++++++++++++++++++++++++++++++++++++++
}
//$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13
//$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP
void CreateNmeaRMC
(void)
{
u8 array
[200], i
= 0, crc
= 0, x
;
s16 tmp_int
;
s32 tmp1
, tmp2
;
// +++++++++++++++++++++++++++++++++++++++++++
i
+= sprintf(array
, "$GPRMC,");
// +++++++++++++++++++++++++++++++++++++++++++
if(SystemTime.
Valid)
{
i
+= sprintf(&array
[i
], "%02d%02d%02d.%03d,", SystemTime.
Hour, SystemTime.
Min, SystemTime.
Sec, SystemTime.
mSec);
}
else
{
i
+= sprintf(&array
[i
], ",");
}
if(GPSData.
Flags & FLAG_GPSFIXOK
)
{
// +++++++++++++++++++++++++++++++++++++++++++
tmp1
= abs(GPSData.
Position.
Latitude)/10000000L;
i
+= sprintf(&array
[i
],"A,%02d", (s16
)tmp1
); // Status: A = Okay V = Warnung
tmp1
= abs(GPSData.
Position.
Latitude)%10000000L
;
tmp1
*= 6; // in Minuten
tmp2
= tmp1
/ 1000000L;
i
+= sprintf(&array
[i
],"%02d", (s16
)tmp2
);
tmp2
= tmp1
% 1000000L;
tmp2
/= 100; // zwei Stellen zu viel
i
+= sprintf(&array
[i
],".%04d,", (s16
)tmp2
);
if(GPSData.
Position.
Latitude >= 0) i
+= sprintf(&array
[i
],"N,");
else i
+= sprintf(&array
[i
],"S,");
// +++++++++++++++++++++++++++++++++++++++++++
tmp1
= abs(GPSData.
Position.
Longitude)/10000000L;
i
+= sprintf(&array
[i
],"%03d", (s16
)tmp1
);
tmp1
= abs(GPSData.
Position.
Longitude)%10000000L
;
tmp1
*= 6; // in Minuten
tmp2
= tmp1
/ 1000000L;
i
+= sprintf(&array
[i
],"%02d", (s16
)tmp2
);
tmp2
= tmp1
% 1000000L;
tmp2
/= 100; // zwei Stellen zu viel
i
+= sprintf(&array
[i
],".%04d,", (s16
)tmp2
);
if(GPSData.
Position.
Longitude >= 0) i
+= sprintf(&array
[i
],"E,");
else i
+= sprintf(&array
[i
],"W,");
// +++++++++++++++++++++++++++++++++++++++++++
tmp_int
= GPSData.
Speed_Ground; // in cm/sek
tmp_int
*= 90;
tmp_int
/= 463;
i
+= sprintf(&array
[i
],"%02d.%d,",tmp_int
/10,tmp_int
%10); // in Knoten
// +++++++++++++++++++++++++++++++++++++++++++
i
+= sprintf(&array
[i
],"%03d.%d,",GyroCompassCorrected
/10,GyroCompassCorrected
%10);
// +++++++++++++++++++++++++++++++++++++++++++
if(SystemTime.
Valid)
{
i
+= sprintf(&array
[i
], "%02d%02d%02d,",SystemTime.
Day,SystemTime.
Month,SystemTime.
Year);
}
else
{
i
+= sprintf(&array
[i
], ",");
}
// +++++++++++++++++++++++++++++++++++++++++++
i
+= sprintf(&array
[i
],"%d.%1d,", abs(GeoMagDec
)/10,abs(GeoMagDec
)%10);
if(GeoMagDec
< 0) i
+= sprintf(&array
[i
], "W,"); else i
+= sprintf(&array
[i
], "E,");
// +++++++++++++++++++++++++++++++++++++++++++
if(GPSData.
Flags & FLAG_DIFFSOLN
) i
+= sprintf(&array
[i
], "D*");
else i
+= sprintf(&array
[i
], "A*");
}
else // kein Satfix
{
i
+= sprintf(&array
[i
], "V,,,,,,,,,,N*");
}
// +++++++++++++++++++++++++++++++++++++++++++
// CRC
// +++++++++++++++++++++++++++++++++++++++++++
for(x
=1; x
<i
-1; x
++)
{
crc
^= array
[x
];
}
i
+= sprintf(&array
[i
], "%02x%c%c",crc
,0x0d,0x0a);
// +++++++++++++++++++++++++++++++++++++++++++
AddSerialData
(&UART1_tx_buffer
,array
,i
);
// +++++++++++++++++++++++++++++++++++++++++++
/*
GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits
GPSData.NumOfSats = UbxSol.numSV;
GPSData.SatFix = UbxSol.GPSfix;
GPSData.Position_Accuracy = UbxSol.PAcc;
GPSData.Speed_Accuracy = UbxSol.SAcc;
SetGPSTime(&SystemTime); // update system time
// NAV POSLLH
GPSData.Position.Status = INVALID;
GPSData.Position.Longitude = UbxPosLlh.LON;
GPSData.Position.Latitude = UbxPosLlh.LAT;
GPSData.Position.Altitude = UbxPosLlh.HMSL;
GPSData.Position.Status = NEWDATA;
// NAV VELNED
GPSData.Speed_East = UbxVelNed.VEL_E;
GPSData.Speed_North = UbxVelNed.VEL_N;
GPSData.Speed_Top = -UbxVelNed.VEL_D;
GPSData.Speed_Ground = UbxVelNed.GSpeed;
GPSData.Heading = UbxVelNed.Heading;
SystemTime.Year = 0;
SystemTime.Month = 0;
SystemTime.Day = 0;
SystemTime.Hour = 0;
SystemTime.Min = 0;
SystemTime.Sec = 0;
SystemTime.mSec = 0;
SystemTime.Valid = 0;
FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2;
if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S
else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S
i1 = abs(GPSData.Position.Latitude)/10000000L;
i2 = abs(GPSData.Position.Latitude)%10000000L;
if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;}
i1 *= 100;
i1 += i2 / 100000;
i2 = i2 % 100000;
i2 /= 10;
ToFlightCtrl.Param.Byte[6] = i1 % 256;
ToFlightCtrl.Param.Byte[7] = i1 / 256;
ToFlightCtrl.Param.Byte[8] = i2 % 256;
ToFlightCtrl.Param.Byte[9] = i2 / 256;
break;
case 1:
ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID;
ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden
ToFlightCtrl.Param.Byte[1] = 8-1; // how many
//-----------------------------
if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E
else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S
i1 = abs(GPSData.Position.Longitude)/10000000L;
i2 = abs(GPSData.Position.Longitude)%10000000L;
*/
}
u16 SendTriggerPos
(void)
{
u16 sent
= 0;
NaviData_Out1Trigger.
Index = 18;
sent
= MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'O', NC_ADDRESS
, 1 , (u8
*)&NaviData_Out1Trigger
, sizeof(NaviData_Out1Trigger
)) + 1;
if(sent
) Out1TriggerUpdateNewData
= 0;
// BeepTime = 50; // beep
return(sent
);
}
u16 TransmitNavigationData
(u16 MaxBytesPerSecond
, u8 clear
) // returns the minumum pause time in ms
{
static u8 state
= 0, count_flags
= 2, count_target
= 3, count_home
= 4, count_wp
= 5 , count_tiny
= 6, count_fs
= 7, count_txt
= 5;
static u16 CRC_Home
= 0, CRC_Target
= 0, CRC_Flags
= 0, CRC_Wp
= 0, CRC_Fs
= 0, CRC_Txt
= 0, crc_Tiny
= 0;
u16 pause
, sent
= 0, crc_home
, crc_target
, crc_flags
, crc_wp
, crc_fs
, crc_txt
;
s32 altimeter_5cm_or_m
;
if(clear
)
{
state
= 0;
CRC_Home
++;
CRC_Target
++;
CRC_Flags
++;
CRC_Wp
++;
CRC_Fs
++;
if(ErrorCode
) NaviData_Flags.
SpeakHoTT = FC.
FromFC_SpeakHoTT;
else NaviData_Flags.
SpeakHoTT = SPEAK_CONNECTED
;
NaviData_Flags_SpeakHoTT_Processed
= 0; // don't overwrite in SPI.C
return(1);
}
if(FromKopterToolFlags
[0] & FLAG_ALTIMETER_M
) altimeter_5cm_or_m
= BaroAltimeter_dm
/ 10; else altimeter_5cm_or_m
= NaviData.
Altimeter_5cm;
while(!sent
)
{
// 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
// sent += SendTriggerPos(); // dann passen die 35 Bytes noch ohne Verzögerung
switch(state
++)
{
case 0: if(LaserCtrlTimeout
> 0) // send only, if LaserCtrl is connected
{
NaviData_Laser.
Index = 20;
NaviData_Laser.
ActualLongitude = NaviData.
CurrentPosition.
Longitude;
NaviData_Laser.
ActualLatitude = NaviData.
CurrentPosition.
Latitude;
NaviData_Laser.
Altimeter_5cm_or_m = altimeter_5cm_or_m
;
NaviData_Laser.
GroundSpeed = NaviData.
GroundSpeed / 10;
NaviData_Laser.
OSDStatusFlags = (FC.
StatusFlags & OSD_FLAG_MASK1
) | (FC.
StatusFlags2 & OSD_FLAG_MASK2
);
NaviData_Laser.
Distance = FromLaserCtrl.
Distance;
sent
+= MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'O', NC_ADDRESS
, 1 , (u8
*)&NaviData_Laser
, sizeof(NaviData_Laser
)) + 1;
break;
}
case 6:
case 5:
// belegt 35 ASCII-Zeichen
NaviData_Flags.
Index = 11;
NaviData_Flags.
ActualLongitude = NaviData.
CurrentPosition.
Longitude;
NaviData_Flags.
ActualLatitude = NaviData.
CurrentPosition.
Latitude;
NaviData_Flags.
Altimeter_5cm_or_m = altimeter_5cm_or_m
;
NaviData_Flags.
GroundSpeed = NaviData.
GroundSpeed / 10;
NaviData_Flags.
OSDStatusFlags = (FC.
StatusFlags & OSD_FLAG_MASK1
) | (FC.
StatusFlags2 & OSD_FLAG_MASK2
);
NaviData_Flags.
OSDStatusFlags2 = (FC.
StatusFlags & ~OSD_FLAG_MASK1
) | (FC.
StatusFlags2 & ~OSD_FLAG_MASK2
);
NaviData_Flags.
NCFlags = NaviData.
NCFlags;
NaviData_Flags.
Errorcode = ErrorCode
;
NaviData_Flags.
ReserveFlags = 0;
//NaviData_Flags.SpeakHoTT = FC.FromFC_SpeakHoTT; -> in SPI.c
NaviData_Flags.
VarioCharacter = FromFC_VarioCharacter
;
NaviData_Flags.
GPS_ModeCharacter = NC_GPS_ModeCharacter
;
NaviData_Flags.
BL_MinOfMaxPWM = BL_MinOfMaxPWM
;
crc_flags
= CRC16
((unsigned char*)(&NaviData_Flags.
OSDStatusFlags2), sizeof(NaviData_Flags
) - START_PAYLOAD_DATA
);
if((crc_flags
!= CRC_Flags
) || (--count_flags
== 0))
{
sent
+= MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'O', NC_ADDRESS
, 1 , (u8
*)&NaviData_Flags
, sizeof(NaviData_Flags
)) + 1;
CRC_Flags
= crc_flags
;
count_flags
= 11*2;
}
NaviData_Flags_SpeakHoTT_Processed
= 1; // allow update in SPI now
break;
case 1:
case 7:
// belegt 43 ASCII-Zeichen
NaviData_Target.
Index = 12;
NaviData_Target.
ActualLongitude = NaviData.
CurrentPosition.
Longitude;
NaviData_Target.
ActualLatitude = NaviData.
CurrentPosition.
Latitude;
NaviData_Target.
Altimeter_5cm_or_m = altimeter_5cm_or_m
;
NaviData_Target.
GroundSpeed = NaviData.
GroundSpeed / 10;
NaviData_Target.
OSDStatusFlags = (FC.
StatusFlags & OSD_FLAG_MASK1
) | (FC.
StatusFlags2 & OSD_FLAG_MASK2
);
NaviData_Target.
TargetLongitude = NaviData.
TargetPosition.
Longitude;
NaviData_Target.
TargetLatitude = NaviData.
TargetPosition.
Latitude;
NaviData_Target.
TargetAltitude = NaviData.
TargetPosition.
Altitude;
NaviData_Target.
RC_Quality = NaviData.
RC_Quality;
crc_target
= CRC16
((unsigned char*)(&NaviData_Target.
TargetLongitude), sizeof(NaviData_Target
) - START_PAYLOAD_DATA
);
if((crc_target
!= CRC_Target
) || (--count_target
== 0))
{
sent
+= MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'O', NC_ADDRESS
, 1 , (u8
*)&NaviData_Target
, sizeof(NaviData_Target
)) + 1;
CRC_Target
= crc_target
;
count_target
= 10*2;
}
break;
case 2:
case 8:
// belegt 31 ASCII-Zeichen
NaviData_WP.
Index = 15;
NaviData_WP.
ActualLongitude = NaviData.
CurrentPosition.
Longitude;
NaviData_WP.
ActualLatitude = NaviData.
CurrentPosition.
Latitude;
NaviData_WP.
Altimeter_5cm_or_m = altimeter_5cm_or_m
;
NaviData_WP.
GroundSpeed = NaviData.
GroundSpeed / 10;
NaviData_WP.
OSDStatusFlags = (FC.
StatusFlags & OSD_FLAG_MASK1
) | (FC.
StatusFlags2 & OSD_FLAG_MASK2
);
NaviData_WP.
WaypointIndex = NaviData.
WaypointIndex;
NaviData_WP.
WaypointNumber = NaviData.
WaypointNumber;
NaviData_WP.
TargetHoldTime = NaviData.
TargetHoldTime;
// NaviData_WP.WP_Eventchannel = FC_WP_EventChannel; -> happends already in SPI.c
crc_wp
= CRC16
((unsigned char*)(&NaviData_WP.
WaypointIndex), sizeof(NaviData_WP
) - START_PAYLOAD_DATA
); // update crc
if((crc_wp
!= CRC_Wp
) || (--count_wp
== 0))
{
sent
+= MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'O', NC_ADDRESS
, 1 , (u8
*)&NaviData_WP
, sizeof(NaviData_WP
)) + 1;
CRC_Wp
= crc_wp
;
count_wp
= 12*2;
}
break;
case 3:
case 9:
// 35 ASCII-Zeichen
NaviData_Failsafe.
Index = 17;
NaviData_Failsafe.
ActualLongitude = NaviData.
CurrentPosition.
Longitude;
NaviData_Failsafe.
ActualLatitude = NaviData.
CurrentPosition.
Latitude;
NaviData_Failsafe.
Altimeter_5cm_or_m = altimeter_5cm_or_m
;
NaviData_Failsafe.
GroundSpeed = NaviData.
GroundSpeed / 10;
NaviData_Failsafe.
OSDStatusFlags = (FC.
StatusFlags & OSD_FLAG_MASK1
) | (FC.
StatusFlags2 & OSD_FLAG_MASK2
);
NaviData_Failsafe.
Longitude = GPS_FailsafePosition.
Longitude;
NaviData_Failsafe.
Latitude = GPS_FailsafePosition.
Latitude;
crc_fs
= CRC16
((unsigned char*)(&NaviData_Failsafe.
Longitude), sizeof(NaviData_FS_Pos_t
) - START_PAYLOAD_DATA
); // update crc for the structure
if((crc_fs
!= CRC_Fs
) || (--count_fs
== 0))
{
sent
+= MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'O', NC_ADDRESS
, 1 , (u8
*)&NaviData_Failsafe
, sizeof(NaviData_Failsafe
)) + 1;
CRC_Fs
= crc_fs
;
count_fs
= 20*2;
}
break;
case 4:
case 10:
// belegt 43 ASCII-Zeichen
NaviData_Home.
Index = 13;
NaviData_Home.
ActualLongitude = NaviData.
CurrentPosition.
Longitude;
NaviData_Home.
ActualLatitude = NaviData.
CurrentPosition.
Latitude;
NaviData_Home.
Altimeter_5cm_or_m = altimeter_5cm_or_m
;
NaviData_Home.
GroundSpeed = NaviData.
GroundSpeed / 10;
NaviData_Home.
OSDStatusFlags = (FC.
StatusFlags & OSD_FLAG_MASK1
) | (FC.
StatusFlags2 & OSD_FLAG_MASK2
);
NaviData_Home.
HomeLongitude = NaviData.
HomePosition.
Longitude;
NaviData_Home.
HomeLatitude = NaviData.
HomePosition.
Latitude;
NaviData_Home.
HomeAltitude = NaviData.
HomePosition.
Altitude;
NaviData_Home.
WP_OperatingRadius = MaxWP_Radius_in_m
;
// ++++++++++++++
// + Fix Type
// ++++++++++++++
if(!(GPSData.
Flags & FLAG_GPSFIXOK
)) NaviData_Home.
OSDStatusFlags3 = (NaviData_Home.
OSDStatusFlags3 & 0xf8) | OSD_FIX_NONE
;
else
if(GPSData.
SatFix == SATFIX_2D
) NaviData_Home.
OSDStatusFlags3 = (NaviData_Home.
OSDStatusFlags3 & 0xf8) | OSD_FIX_2D
;
else
if(GPSData.
Flags & FLAG_DIFFSOLN
) NaviData_Home.
OSDStatusFlags3 = (NaviData_Home.
OSDStatusFlags3 & 0xf8) | OSD_FIX_DGPS
;
else
if(GPSData.
SatFix == SATFIX_3D
) NaviData_Home.
OSDStatusFlags3 = (NaviData_Home.
OSDStatusFlags3 & 0xf8) | OSD_FIX_3D
;
// ++++++++++++++
if(BlitzSchuhConnected
) NaviData_Home.
OSDStatusFlags3 |= OSD3_FLAG_HOTSHOE
; else NaviData_Home.
OSDStatusFlags3 &= ~OSD3_FLAG_HOTSHOE
;
// ++++++++++++++
if(FC.
StatusFlags3 & FC_STATUS3_BOAT
) NaviData_Home.
OSDStatusFlags3 |= OSD3_FLAG_BOAT_MODE
; else NaviData_Home.
OSDStatusFlags3 &= ~OSD3_FLAG_BOAT_MODE
;
// ++++++++++++++
if(!(FC.
StatusFlags3 & FC_STATUS3_NOT_CALIBRATED
) && !ErrorCode
&& !Partner.
ErrorCode && (NCFlags
& NC_FLAG_GPS_OK
))
NaviData_Home.
OSDStatusFlags3 |= OSD3_FLAG_MK_IS_READY
; else NaviData_Home.
OSDStatusFlags3 &= ~OSD3_FLAG_MK_IS_READY
;
// ++++++++++++++
crc_home
= CRC16
((unsigned char*)(&NaviData_Home.
HomeLongitude), sizeof(NaviData_Home_t
) - START_PAYLOAD_DATA
); // update crc for the structure
if((crc_home
!= CRC_Home
) || (--count_home
== 0))
{
sent
+= MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'O', NC_ADDRESS
, 1 , (u8
*)&NaviData_Home
, sizeof(NaviData_Home
)) + 1;
CRC_Home
= crc_home
;
count_home
= 25;
}
break;
case 11:
// belegt 39 ASCII-Zeichen
NaviData_Deviation.
Index = 14;
NaviData_Deviation.
ActualLongitude = NaviData.
CurrentPosition.
Longitude;
NaviData_Deviation.
ActualLatitude = NaviData.
CurrentPosition.
Latitude;
NaviData_Deviation.
Altimeter_5cm_or_m = altimeter_5cm_or_m
;
NaviData_Deviation.
GroundSpeed = NaviData.
GroundSpeed / 10;
NaviData_Deviation.
OSDStatusFlags = (FC.
StatusFlags & OSD_FLAG_MASK1
) | (FC.
StatusFlags2 & OSD_FLAG_MASK2
);
NaviData_Deviation.
FlyingTime = NaviData.
FlyingTime;
NaviData_Deviation.
DistanceToHome = NaviData.
HomePositionDeviation.
Distance_dm;
NaviData_Deviation.
HeadingToHome = NaviData.
HomePositionDeviation.
Bearing/2;
NaviData_Deviation.
DistanceToTarget = NaviData.
TargetPositionDeviation.
Distance_dm;
NaviData_Deviation.
HeadingToTarget = NaviData.
TargetPositionDeviation.
Bearing/2;
NaviData_Deviation.
AngleNick = NaviData.
AngleNick;
NaviData_Deviation.
AngleRoll = NaviData.
AngleRoll;
NaviData_Deviation.
SatsInUse = NaviData.
SatsInUse;
sent
+= MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'O', NC_ADDRESS
, 1 , (u8
*)&NaviData_Deviation
, sizeof(NaviData_Deviation
)) + 1;
break;
case 12:
// belegt 43 ASCII-Zeichen
NaviData_Volatile.
Index = 16;
NaviData_Volatile.
ActualLongitude = NaviData.
CurrentPosition.
Longitude;
NaviData_Volatile.
ActualLatitude = NaviData.
CurrentPosition.
Latitude;
NaviData_Volatile.
Altimeter_5cm_or_m = altimeter_5cm_or_m
;
NaviData_Volatile.
GroundSpeed = NaviData.
GroundSpeed / 10;
NaviData_Volatile.
OSDStatusFlags = (FC.
StatusFlags & OSD_FLAG_MASK1
) | (FC.
StatusFlags2 & OSD_FLAG_MASK2
);
NaviData_Volatile.
UBat = FC.
BAT_Voltage;
NaviData_Volatile.
Current = NaviData.
Current;
NaviData_Volatile.
UsedCapacity = NaviData.
UsedCapacity;
NaviData_Volatile.
Variometer = NaviData.
Variometer;
NaviData_Volatile.
Heading = NaviData.
Heading / 2;
NaviData_Volatile.
CompassHeading = NaviData.
CompassHeading / 2;
NaviData_Volatile.
Gas = NaviData.
Gas;
if(FromKopterToolFlags
[0] & FLAG_ALTIMETER_M
) NaviData_Volatile.
SetpointAltitude = FC.
SetpointAltimeter_dm; else NaviData_Volatile.
SetpointAltitude = NaviData.
SetpointAltitude_5cm;
sent
+= MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'O', NC_ADDRESS
, 1 , (u8
*)&NaviData_Volatile
, sizeof(NaviData_Volatile
)) + 1;
break;
case 13:
// belegt 27 ASCII-Zeichen
NaviData_Tiny.
Index = 10;
NaviData_Tiny.
ActualLongitude = NaviData.
CurrentPosition.
Longitude;
NaviData_Tiny.
ActualLatitude = NaviData.
CurrentPosition.
Latitude;
NaviData_Tiny.
Altimeter_5cm_or_m = altimeter_5cm_or_m
;
NaviData_Tiny.
GroundSpeed = NaviData.
GroundSpeed / 10;
NaviData_Tiny.
OSDStatusFlags = (FC.
StatusFlags & OSD_FLAG_MASK1
) | (FC.
StatusFlags2 & OSD_FLAG_MASK2
);
NaviData_Tiny.
CamCtrlChar = CamCtrlCharacter
;
if((crc_Tiny
!= NaviData_Tiny.
CamCtrlChar) || (--count_tiny
== 0))
{
sent
+= MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'O', NC_ADDRESS
, 1 , (u8
*)&NaviData_Tiny
, sizeof(NaviData_Tiny
)) + 1;
count_tiny
= 200; // just to make sure that it comes sometimes
crc_Tiny
= NaviData_Tiny.
CamCtrlChar;
}
break;
case 14:
// 55 ASCII-Zeichen
NaviData_HoTT_Text.
Index = 19;
NaviData_HoTT_Text.
ActualLongitude = NaviData.
CurrentPosition.
Longitude;
NaviData_HoTT_Text.
ActualLatitude = NaviData.
CurrentPosition.
Latitude;
NaviData_HoTT_Text.
Altimeter_5cm_or_m = altimeter_5cm_or_m
;
NaviData_HoTT_Text.
GroundSpeed = NaviData.
GroundSpeed / 10;
NaviData_HoTT_Text.
OSDStatusFlags = (FC.
StatusFlags & OSD_FLAG_MASK1
) | (FC.
StatusFlags2 & OSD_FLAG_MASK2
);
NaviData_HoTT_Text.
MagnetField = (u16
) (EarthMagneticField
/5);
crc_txt
= CRC16
((unsigned char*)(&NaviData_HoTT_Text.
HoTT_DisplayText), sizeof(NaviData_HoTT_Text_t
) - START_PAYLOAD_DATA
); // update crc for the structure
if((crc_txt
!= CRC_Txt
) || (--count_txt
== 0))
{
sent
+= MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'O', NC_ADDRESS
, 1 , (u8
*)&NaviData_HoTT_Text
, sizeof(NaviData_HoTT_Text
)) + 1;
CRC_Txt
= crc_txt
;
count_txt
= 50;
}
break;
default: state
= 0;
break;
}
}
pause
= (sent
* 1000) / MaxBytesPerSecond
;
UART1_Request_NaviData
= FALSE
;
LastTransmittedFCStatusFlags2
= NaviData.
FCStatusFlags2;
return(pause
);
// Clear at timeout:
// NaviData_WP.WP_Eventchannel
}
/**************************************************************/
/* Send the answers to incomming commands at the debug uart */
/**************************************************************/
void UART1_TransmitTxData
(void)
{
static u8 motorindex1
= 255, motorindex2
= 0;
if(DebugUART
!= UART1
) return;
if(CheckDelay
(UART1_AboTimeOut
) || StopAllAbbos
)
{
UART1_DebugData_Interval
= 0;
UART1_NaviData_Interval
= 0;
UART1_NaviData_MaxBytes
= 0;
UART1_Data3D_Interval
= 0;
UART1_Display_Interval
= 0;
UART1_MotorData_Interval
= 0;
UART1_NaviData_Timer
= SetDelay
(500);
UART1_AboTimeOut
= SetDelay
(1000);
UART1_MobileMenu_Timer
= 0;
TransmitNavigationData
(0,1); // clear the CRC values
StopAllAbbos
= 0;
}
//if(UART1_NaviData_MaxBytes > 150) UART1_NaviData_MaxBytes = 150;
//UART1_NaviData_MaxBytes = 150;
/*
#define CHK_MIN_INTERVAL(a,b) {if(a && a < b) a = b;}
UART1_NaviData_Interval = 500;
CHK_MIN_INTERVAL(UART1_DebugData_Interval,500);
CHK_MIN_INTERVAL(UART1_NaviData_Interval,1000);
CHK_MIN_INTERVAL(UART1_Data3D_Interval,255);
CHK_MIN_INTERVAL(UART1_Display_Interval,1500);
CHK_MIN_INTERVAL(UART1_MotorData_Interval,750);
*/
UART1_Transmit
(); // output pending bytes in tx buffer
if((UART1_tx_buffer.
Locked == TRUE
)) return;
if(UART1_Request_Parameter
&& (UART1_tx_buffer.
Locked == FALSE
))
{
s16 ParamValue
;
NCParams_GetValue
(UART1_Request_ParameterId
, &ParamValue
);
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'J', NC_ADDRESS
, 2, &UART1_Request_ParameterId
, sizeof(UART1_Request_ParameterId
), &ParamValue
, sizeof(ParamValue
)); // answer the param request
UART1_Request_Parameter
= FALSE
;
}
else if(UART1_Request_MissonParameter
&& (UART1_tx_buffer.
Locked == FALSE
))
{
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
UART1_Request_MissonParameter
= 0;
}
else if(UART1_Request_Echo
&& (UART1_tx_buffer.
Locked == FALSE
))
{
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'Z', NC_ADDRESS
, 1, &Echo
, sizeof(Echo
)); // answer the echo request
Echo
= 0; // reset echo value
UART1_Request_Echo
= FALSE
;
}
else if(UART1_Request_FTP
&& (UART1_tx_buffer.
Locked == FALSE
))
{
u8 errorcode
= FTP_ERROR_NONE
;
#ifndef DATAPLOTTER
if(FC.
StatusFlags & FC_STATUS_MOTOR_RUN
) errorcode
= FTP_ERROR_MOTOR_RUN
;
#endif
if (!Partition.
IsValid) errorcode
= FTP_ERROR_NO_SDCARD
;
if (!errorcode
) CheckFTPCommand
(UART1_Request_FTP
);
else
{
u8 cmd
= FTP_CMD_ERROR
;
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'F', NC_ADDRESS
, 2, &cmd
, 1, &errorcode
, 1);
}
UART1_Request_FTP
= FALSE
;
}
else if((UART1_Request_WritePoint
!= 0xFF) && (UART1_tx_buffer.
Locked == FALSE
))
{
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'W', NC_ADDRESS
, 1, &UART1_Request_WritePoint
, sizeof(UART1_Request_WritePoint
));
UART1_Request_WritePoint
= 0xFF;
}
else if((UART1_Request_ReadPoint
) && (UART1_tx_buffer.
Locked == FALSE
))
{
u8 PointCount
= PointList_GetCount
();
if (UART1_Request_ReadPoint
<= PointCount
)
{
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'X', NC_ADDRESS
, 3, &PointCount
, 1, &UART1_Request_ReadPoint
, 1, PointList_GetAt
(UART1_Request_ReadPoint
), sizeof(Point_t
));
}
else
{
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
,'X', NC_ADDRESS
, 1, &PointCount
, sizeof(PointCount
));
}
UART1_Request_ReadPoint
= 0;
}
else if((UART1_Request_DebugLabel
!= 0xFF) && (UART1_tx_buffer.
Locked == FALSE
))
{
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'A', NC_ADDRESS
, 2, &UART1_Request_DebugLabel
, sizeof(UART1_Request_DebugLabel
), (u8
*) ANALOG_LABEL
[UART1_Request_DebugLabel
], 16);
UART1_Request_DebugLabel
= 0xFF;
}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//+ Mobile menu
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
else if((UART1_Request_MobileInfo
) && (UART1_tx_buffer.
Locked == FALSE
)) // Infos
{
u8 cmd
= MOBILE_INFO
;
MobileDataInfo.
Count = MOBILE_MAX_MENU
;
MobileDataInfo.
Compatibel = MOBILE_COMPATIBLITY
;
MobileDataInfo.
CheckSumLable = CRC16
((unsigned char*)(&MobileLabel
[0].
MenuLabel[0]), sizeof(MobileLabel
)); // update crc for the structure
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'N', NC_ADDRESS
, 2, &cmd
,1, &MobileDataInfo
, sizeof(MobileDataInfo
));
UART1_Request_MobileInfo
= 0;
}
else if((UART1_Request_MobileLabel
!= 0xFF) && (UART1_tx_buffer.
Locked == FALSE
)) // Lables
{
u8 cmd
= MOBILE_LABLE
;
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'N', NC_ADDRESS
, 3, &cmd
,1, &UART1_Request_MobileLabel
, sizeof(UART1_Request_MobileLabel
), (u8
*) &MobileLabel
[UART1_Request_MobileLabel
].
MenuLabel[0], sizeof(MobileLabel_t
));
UART1_Request_MobileLabel
= 0xFF;
}
else if((((UART1_Request_MobileMenu
) && CheckDelay
(UART1_MobileMenu_Timer
)) || (UART1_Request_MobileMenu
== 1)) && (UART1_tx_buffer.
Locked == FALSE
)) // menu
{
u8 cmd
= MOBILE_MENU
, event
;
static u16 lastcrc
= 0;
u16 crc
;
event
= MobileDataRequest.
Event;
MobileMenuUpdate
(MobileDataRequest.
MenuItem,event
,MobileDataRequest.
Value);
MobileDataRequest.
Event = 0;
//++++ has the data changed ? +++++
crc
= CRC16
((unsigned char*)(&Mobile
), sizeof(Mobile_t
));
if(crc
!= lastcrc
|| UART1_Request_MobileMenu
== 1)
{
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'N', NC_ADDRESS
, 2, &cmd
,1, &Mobile
, sizeof(Mobile_t
));
lastcrc
= crc
;
}
//+++++++++++++++++++++++++++++++++
if(++UART1_Request_MobileMenu
>= 16) UART1_Request_MobileMenu
= 0;
else UART1_MobileMenu_Timer
= SetDelay
(500);
}
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
else if(UART1_ExternalControlConfirmFrame
&& (UART1_tx_buffer.
Locked == FALSE
))
{
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'B', NC_ADDRESS
, 1,(u8
*)&UART1_ExternalControlConfirmFrame
, sizeof(UART1_ExternalControlConfirmFrame
));
UART1_ExternalControlConfirmFrame
= 0;
}
else
if((UART1_NaviData_Interval
> 0) && Out1TriggerUpdateNewData
&& UART1_NaviData_MaxBytes
> 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
{
//sent +=
SendTriggerPos
(); // dann passen die 35 Bytes noch ohne Verzögerung
}
else if(( ((UART1_NaviData_Interval
> 0) && CheckDelay
(UART1_NaviData_Timer
) ) || UART1_Request_NaviData
) && (UART1_tx_buffer.
Locked == FALSE
))
{
u16
time = 0;
//UART1_NaviData_MaxBytes = 250;
if(UART1_NaviData_MaxBytes
== 0) // Transmit the big NC Data frame
{
NaviData.
Errorcode = ErrorCode
;
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'O', NC_ADDRESS
, 1 , (u8
*)&NaviData
, sizeof(NaviData
));
LastTransmittedFCStatusFlags2
= NaviData.
FCStatusFlags2;
UART1_NaviData_Timer
= SetDelay
(UART1_NaviData_Interval
);
}
else
if(CheckDelay
(UART1_NaviData_Timer
))
{
// Wert = 50 -> Sekunden laufen in 2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 3-4s)
// Wert = 100 -> Sekunden laufen in 1-2 s-Abstand (im Wegpunkteflug mit aktivem Countdown in 2s)
// Wert = 150 -> Sekunden laufen flüssig (im Wegpunkteflug mit aktivem Countdown und gleichzeitig Target verschieben manchmal in 2s)
// Wert = 200 -> Sekunden laufen flüssig
// Wert >= 250 -> optimal
//UART1_NaviData_MaxBytes = 45;
time = TransmitNavigationData
(UART1_NaviData_MaxBytes
,0);
if(UART1_NaviData_Interval
> time) time = UART1_NaviData_Interval
;
UART1_NaviData_Timer
= SetDelay
(time);
}
UART1_Request_NaviData
= FALSE
;
}
else if( (( (UART1_DebugData_Interval
> 0) && CheckDelay
(UART1_DebugData_Timer
)) || UART1_Request_DebugData
) && (UART1_tx_buffer.
Locked == FALSE
))
{
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'D', NC_ADDRESS
, 1,(u8
*)&DebugOut
, sizeof(DebugOut
));
UART1_DebugData_Timer
= SetDelay
(UART1_DebugData_Interval
);
UART1_Request_DebugData
= FALSE
;
}
else if((( (UART1_Data3D_Interval
> 0) && CheckDelay
(UART1_Data3D_Timer
) ) || UART1_Request_Data3D
) && (UART1_tx_buffer.
Locked == FALSE
))
{
Data3D.
StickNick = FC.
StickNick;
Data3D.
StickRoll = FC.
StickRoll;
Data3D.
StickYaw = FC.
StickYaw;
Data3D.
StickGas = FC.
StickGas;
Data3D.
AngleNick = FromFlightCtrl.
AngleNick; // in 0.1 deg
Data3D.
AngleRoll = FromFlightCtrl.
AngleRoll; // in 0.1 deg
Data3D.
Heading = FromFlightCtrl.
GyroHeading; // in 0.1 deg
Data3D.
Altimeter_5cm = BaroAltimeter_dm
* 2; // in 5cm -> 20 = 1m
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'C', NC_ADDRESS
, 1,(u8
*)&Data3D
, sizeof(Data3D
));
UART1_Data3D_Timer
= SetDelay
(UART1_Data3D_Interval
);
UART1_Request_Data3D
= FALSE
;
}
else if((((UART1_MotorData_Interval
> 0) && CheckDelay
(UART1_MotorData_Timer
) ) || UART1_Request_MotorData
) && (UART1_tx_buffer.
Locked == FALSE
))
{
do
{
motorindex1
++;
motorindex1
%=12;
if(!motorindex1
) {motorindex2
++; motorindex2
%= 12;};
if(motorindex1
== motorindex2
) break;
}
while((Motor
[motorindex1
].
State & 0x80) != 0x80); // skip unused Motors
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'K', NC_ADDRESS
, 2, &motorindex1
, sizeof(motorindex1
),(u8
*)&Motor
[motorindex1
], sizeof(Motor_t
));
UART1_MotorData_Timer
= SetDelay
(UART1_MotorData_Interval
);
UART1_Request_MotorData
= FALSE
;
}
else if(UART1_Request_WPLStore
)
{
/*
s8 txt[50];
sprintf(txt, "\r\nWPL Overwride = %d, Type = %d, Index = %d, Status = %d\r\n", WPL_Store.OverwriteFile, WPL_Store.Type, WPL_Answer.Index, WPL_Answer.Status);
UART1_PutString(txt);
*/
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'I', NC_ADDRESS
, 1,(u8
*)&(WPL_Answer
), sizeof(WPL_Answer_t
));
UART1_Request_WPLStore
= FALSE
;
}
else if((((NMEA_Interval
> 0) && CheckDelay
(NMEA_Timer
))) && (UART1_tx_buffer.
Locked == FALSE
))
{
CreateNmeaGGA
();
Send_NMEA_RMC
= TRUE
; // das muss noch da hinter
NMEA_Timer
= SetDelay
(NMEA_Interval
);
}
else if(Send_NMEA_RMC
== TRUE
&& (UART1_tx_buffer.
Locked == FALSE
))
{
CreateNmeaRMC
();
Send_NMEA_RMC
= FALSE
;
}
else if(UART1_ConfirmFrame
&& (UART1_tx_buffer.
Locked == FALSE
))
{
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'B', NC_ADDRESS
, 1, &UART1_ConfirmFrame
, sizeof(UART1_ConfirmFrame
));
UART1_ConfirmFrame
= 0;
}
else if(UART1_Request_ExternalControl
&& (UART1_tx_buffer.
Locked == FALSE
))
{
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'G', NC_ADDRESS
, 1, (u8
*)&ExternControl
, sizeof(ExternControl
));
UART1_Request_ExternalControl
= FALSE
;
}
else if( (( (UART1_Display_Interval
> 0) && CheckDelay
(UART1_Display_Timer
)) || UART1_Request_Display
) && (UART1_tx_buffer.
Locked == FALSE
))
{
if(UART1_DisplayLine
> 3)
{
Menu_Update
(UART1_DisplayKeys
);
UART1_DisplayKeys
= 0;
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'H', NC_ADDRESS
, 1, (u8
*)DisplayBuff
, sizeof(DisplayBuff
));
}
else
{
UART1_DisplayLine
= 2;
sprintf(text
,"!!! incompatible !!!");
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'H', NC_ADDRESS
, 2, &UART1_DisplayLine
, sizeof(UART1_DisplayLine
), (u8
*)&text
, 20);
if(UART1_DisplayLine
++ > 3) UART1_DisplayLine
= 0;
}
UART1_Display_Timer
= SetDelay
(UART1_Display_Interval
);
UART1_Request_Display
= FALSE
;
}
else if(UART1_Request_Display1
&& (UART1_tx_buffer.
Locked == FALSE
))
{
Menu_Update
(0);
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'L', NC_ADDRESS
, 3, (u8
*)&MenuItem
, sizeof(MenuItem
), (u8
*)&MaxMenuItem
, sizeof(MaxMenuItem
),(u8
*)DisplayBuff
, sizeof(DisplayBuff
));
UART1_Request_Display1
= FALSE
;
}
else if(UART1_Request_VersionInfo
== 1 && (UART1_tx_buffer.
Locked == FALSE
)) // get FC-Versions
{
UART_VersionInfo_t version_tmp
;
version_tmp.
SWMajor = FC_Version.
Major;
version_tmp.
SWMinor = FC_Version.
Minor;
version_tmp.
SWPatch = FC_Version.
Patch;
version_tmp.
HWMajor = FC_Version.
Hardware;
version_tmp.
HardwareError[0] = 0xff; // tells the KopterTool that it is the FC-version
version_tmp.
HardwareError[1] = 0xff; // tells the KopterTool that it is the FC-version
version_tmp.
ProtoMajor = UART_VersionInfo.
ProtoMajor;
version_tmp.
BL_Firmware = UART_VersionInfo.
BL_Firmware;
version_tmp.
Flags = 0;
version_tmp.
LabelTextCRC = 0;//UART_VersionInfo.DebugTextCRC;
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'V', NC_ADDRESS
,1, (u8
*)&version_tmp
, sizeof(version_tmp
));
UART1_Request_VersionInfo
= FALSE
;
}
else if(UART1_Request_VersionInfo
== 2 && (UART1_tx_buffer.
Locked == FALSE
)) // get NC-Versions
{
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'V', NC_ADDRESS
,1, (u8
*)&UART_VersionInfo
, sizeof(UART_VersionInfo
));
UART1_Request_VersionInfo
= FALSE
;
}
else if(UART1_Request_SystemTime
&& (UART1_tx_buffer.
Locked == FALSE
))
{
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'T', NC_ADDRESS
,1, (u8
*)&SystemTime
, sizeof(SystemTime
));
UART1_Request_SystemTime
= FALSE
;
}
else if(UART1_Request_ErrorMessage
&& (UART1_tx_buffer.
Locked == FALSE
))
{
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'E', NC_ADDRESS
, 1, (u8
*)&ErrorMSG
, sizeof(ErrorMSG
));
UART1_Request_ErrorMessage
= FALSE
;
}
else if(UART1_Request_PPM_Channels
&& (UART1_tx_buffer.
Locked == FALSE
))
{
s16 ppm_tmp
[MAX_RC_IN
], i
;
for(i
=0; i
<MAX_RC_IN
;i
++) ppm_tmp
[i
] = PPM_In
[i
]; // because the serial Data expects s16
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'P', NC_ADDRESS
, 1, (u8
*)&ppm_tmp
, sizeof(ppm_tmp
));
UART1_Request_PPM_Channels
= FALSE
;
}
else if(UART1_Request_LicenseString
&& (UART1_tx_buffer.
Locked == FALSE
))
{
u8 result
= 1, cmd
= 0;
if(UART1_Request_LicenseString
== LIC_CMD_READ_LICENSE
)
{
result
= LIC_CMD_READ_LICENSE
;
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'M', NC_ADDRESS
, 2, &result
, 1, LicensePtr
, LICENSE_SIZE
);
}
else
if((UART1_Request_LicenseString
== LIC_CMD_ERASE_LICENSE
) && !(FC.
StatusFlags & FC_STATUS_MOTOR_RUN
) && (UART_VersionInfo.
HWMajor >= 20))
{
result
= LIC_CMD_ERASE_LICENSE
;
DeleteLicenseInEEPROM
();
CheckLicense
(GET_LICENSE
);
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'M', NC_ADDRESS
, 1, &result
, 1);
}
else
if((UART1_Request_LicenseString
== LIC_CMD_WRITE_LICENSE
) && !(FC.
StatusFlags & FC_STATUS_MOTOR_RUN
) && (UART_VersionInfo.
HWMajor >= 20))
{
cmd
= LIC_CMD_WRITE_LICENSE
;
if(CheckLicense
(CHECK_ONLY
)) //new license is okay
{
WriteLicenseToEEPROM
(EEPROM_LICENSE_DATA_KOMPATIBEL
);
result
= 1;
}
else //new license is NOT okay
{
ClearLicenseText
();
result
= 0;
CheckLicense
(GET_LICENSE
); // fetch a license if available
}
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 'M', NC_ADDRESS
, 2, &cmd
, 1,&result
, 1 );
}
UART1_Request_LicenseString
= 0;
}
#ifdef FOLLOW_ME
else if(CheckDelay
(UART1_FollowMe_Timer
) && (UART1_tx_buffer.
Locked == FALSE
))
{
if((GPSData.
Status != INVALID
) && (GPSData.
SatFix == SATFIX_3D
) && (GPSData.
Flags & FLAG_GPSFIXOK
) && (GPSData.
NumOfSats >= 4))
{
TransmitAlsoToFC
= 1;
// update FollowMe content
FollowMe.
Position.
Longitude = GPSData.
Position.
Longitude;
FollowMe.
Position.
Latitude = GPSData.
Position.
Latitude;
FollowMe.
Position.
Status = NEWDATA
;
FollowMe.
Position.
Altitude = 1;
// 0 -> no Orientation
// 1-360 -> CompassCourse Setpoint
// -1 -> points to WP1 -> itself
FollowMe.
Heading = -1;
FollowMe.
ToleranceRadius = 1;
FollowMe.
HoldTime = 60;
FollowMe.
Event_Flag = 1;
FollowMe.
Index = 1; // 0 = Delete List, 1 place at first entry in the list
FollowMe.
Type = POINT_TYPE_WP
;
#ifdef HOME_TRANSMITTER
FollowMe.
Type = POINT_TYPE_HOME
;
#endif
FollowMe.
WP_EventChannelValue = 100; // set servo value
FollowMe.
AltitudeRate = 0; // do not change height
FollowMe.
Speed = 0; // rate to change the Position (0 = max)
FollowMe.
CamAngle = 121; // Camera servo angle in degree (255 -> POI-Automatic)
FollowMe.
Name[0] = 'F'; // Name of that point (ASCII)
FollowMe.
Name[1] = 'O'; // Name of that point (ASCII)
FollowMe.
Name[2] = 'L'; // Name of that point (ASCII)
FollowMe.
Name[3] = 'L'; // Name of that point (ASCII)
FollowMe.
reserve[0] = 0; // reserve
FollowMe.
reserve[1] = 0; // reserve
/*
{
static u32 distance;
distance = (10 + distance + AnalogData.Ch5 * 5) / 2;
GPSPos_ShiftGeodetic(&(FollowMe.Position), (s16)GyroCompassCorrected/10, distance);
FollowMe.Heading = (s16)GyroCompassCorrected/10;
FollowMe.CamAngle = 0; // Camera servo angle in degree (255 -> POI-Automatic)
FollowMe.Speed = 50 + GPSData.Speed_Ground / 10;
}
*/
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
, 's', NC_ADDRESS
, 1, (u8
*)&FollowMe
, sizeof(FollowMe
));
}
#ifdef HOME_TRANSMITTER
UART1_FollowMe_Timer
= SetDelay
(HOME_INTERVAL
); // set new update time
#else
UART1_FollowMe_Timer
= SetDelay
(FOLLOW_ME_INTERVAL
); // set new update time
#endif
}
#endif
#ifdef DEBUG // only include functions if DEBUG is defined
else if(SendDebugOutput
&& (UART1_tx_buffer.
Locked == FALSE
))
{
MKProtocol_CreateSerialFrame
(&UART1_tx_buffer
,'0', NC_ADDRESS
, 1, (u8
*) &tDebug
, sizeof(tDebug
));
SendDebugOutput
= 0;
}
#endif
UART1_Transmit
(); // output pending bytes in tx buffer
}