/**************************************
File          :  BDTRV20.C
Project       :  BDTRV20_MCU_V07
Description   :  
Created       :  2004
Last updata   :  2004
Author        :  wangwenyu
Compile Tool  :  Keil
Target Device :  SST89V564RD
Circuit Board :  7700
************************************
Modification History
************************************
 Version      : v1.4
 Date         : MM/DD/YYYY
 Modifier     :
 Description  :

 **********************************
 -- Copyright (c)
 *************************************/

#include <SST89V564.H>
#include <ABSACC.H>
#include <CTYPE.H>
#include "head_def.h"

/*********************************************************************/
//unsigned char code DataStr[]=__DATE__;
//unsigned char code TimeStr[]=__TIME__;

/*********************************************************************/
void init4136(void);//SI4136 initialization.
void RunIAPCode(void);
extern InitModule(void);//Initialize the BD-RF-Module.
extern InitMCU(void);//Initialize the MCU.
extern senddsp(void);//Send data to DSP through Parallel port.
extern wdt(void);//Watchdog timer.
extern delay(unsigned char time);//Delay subprogram.
extern BootDSP(void);//Initialize the DSP for run code.
extern InitDSP(void);//Initialize the Port of DSP.
extern rdDSP(void);//Read data from DSP and send through serial port.
extern InitMoudel(void);//Initialize the BD-RF-Moudle.
extern rev_frame(void);
extern ch_frame(void);
extern sd_uart(void);
//extern func_cf(void);
//extern func_ci(void);
extern WriteCont(unsigned char CMD,unsigned char addr,unsigned char DataArray[],unsigned char offset);
extern unsigned char READ(unsigned char CMD,unsigned char addr);

/*********************************************************************/

void main(void)
{
 unsigned char i;
//Initialize the Registers of the MCU.
InitMCU();

RunIAP=0;
IAP=1;
//
moto_fg=1; //系統(tǒng)默認(rèn)為motonola二進(jìn)制形式
cf_rst =0;
u_cf_fg=1;//
//u_ay_fg =1;//
u_fg=1;//
sec_fg =1;//
u_gd_fg =0;

while(1)
	{
	while(Dtime!=0)
		{
		P34=~P34;
		if (RunIAP==1)
			{
			RunIAP=0;
			RunIAPCode();
			}
		}
	IAP=0;
	goto RUN;
	}

RUN:
TR0 = 0;//Stop the timer 0.
ET0 = 0;//Disable the interruption T0.

ES = 0;
TR1 = 0;
PCON = 0x00;
TH1 = 0xfa;	//Set baud rate to 9600bps.
TL1 = 0xfa;
TR1 = 1;
//Initialize the flags.
flagint=0;
flagserial=0;

//Iniatialize the RF Moudel.
InitModule();
delay(5);
//Initialize SI4136.
init4136();	//SI4136 initialization.
//Boot the DSP5402.
delay(10);		//Delay 500ms for boot DSP. 
BootDSP();

//Enable the interruptions.
EX0=1;//Enable the interruption 0.
ES=1;//Enable the serial interruption.
EA=1;//Open the interruptions.

//Initlizate the Parallel Port of DSP.
InitDSP();
/******************************************************/
  delay(200);
/*  delay(200);
  delay(200);
  delay(200);
  delay(200);
  delay(200);
  delay(200);
  delay(200);*/

//Initilze the Position.
if (READ(0x03,0x00)=='$')
  {
  delay(200);
  //delay(200);
  rdata[0] = READ(0x03,0);
  rdata[1] = READ(0x03,1);
  i=2;
  while((rdata[i-2] != 0x0d)&&(rdata[i-1] != 0x0a))
    {
    rdata[i] = READ(0x03,i);
    i++;
    if (i>63)
        {
        rdata[i-2] = 0x0d;
        rdata[i-1] = 0x0a;
        }
    }
  if (i < 63)
    {
    RXLen = i;
    senddsp();
	long_asc[0]=rdata[21];
	long_asc[1]=rdata[22];
	long_asc[2]=rdata[23];
	long_asc[3]=rdata[24];

	lat_asc[0]=rdata[7];
	lat_asc[1]=rdata[8];
	lat_asc[2]=rdata[9];
	lat_asc[3]=rdata[10];
	for(i=0;i<12;i++)
	    {
		if (i<=3)
		  {
		  lat_par=lat_par<<8;
		  lat_par|= READ(0x03,(0x90+i));		  
		  }
		else if(i>3&&i<=7)
		  {
		  long_par=long_par<<8;
		  long_par|= READ(0x03,(0x90+i));		  
		  }		
 		else if(i>7&&i<=11)
		  {
		  high_par=high_par<<8;
		  high_par|= READ(0x03,(0x90+i));		  
		  }	 
		}

	for (i=0;i< RXLen;i++)
	    {
		SBUF =rdata[i];
		while(!TI);
		TI =0;
		}
    /*TX_Busy = 1;
    TXLen = RXLen;
    for (i=0;i<RXLen;i++)
      {
       sdata[i] = rdata[i];
      }
    TXCont = 0;
  	SBUF = sdata[TXCont++];*/
    }
  }
//Initilze the Beam.
if (READ(0x03,0x40)=='$')
  {
  //delay(200);
  delay(200);
  rdata[0] = READ(0x03,0x40);
  rdata[1] = READ(0x03,0x41);
  i=2;
  while((rdata[i-2] != 0x0d)&&(rdata[i-1] != 0x0a))
    {
    rdata[i] = READ(0x03,i+0x40);
    i++;
    if (i>31)
        {
        rdata[i-2] = 0x0d;
        rdata[i-1] = 0x0a;
        }
    }
  if (i < 31)
    {
    RXLen = i;
	channel_beam_1=rdata[7]-0x30;
	channel_beam_2=rdata[9]-0x30;
    senddsp();
	for (i=0;i< RXLen;i++)
	    {
		SBUF =rdata[i];
		while(!TI);
		TI =0;
		}
    /*while(TX_Busy) ;
    TX_Busy = 1;
    TXLen = RXLen;
    for (i=0;i<RXLen;i++)
      {
       sdata[i] = rdata[i];
      }
    TXCont = 0;
  	SBUF = sdata[TXCont++]; */
    }
  }
//Initilze the initial value.
if (READ(0x03,0x60)=='$')
  {
  delay(200);
  //delay(200);
  rdata[0] = READ(0x03,0x60);
  rdata[1] = READ(0x03,0x61);
  i=2;
  while((rdata[i-2] != 0x0d)&&(rdata[i-1] != 0x0a))
    {
    rdata[i] = READ(0x03,i+0x60);
    i++;
    if (i>31)
        {
        rdata[i-2] = 0x0d;
        rdata[i-1] = 0x0a;
        }
    }
  if (i < 31)
    {
    RXLen = i;
    senddsp();

	pps_asc[0]=rdata[9];
	pps_asc[1]=rdata[10];
	pps_asc[2]=rdata[11];
	pps_asc[3]=rdata[12];

	/************************/
	for(i=0;i<12;i++)
	    {
		if (i<=3)
		  {
		  ay_par=ay_par<<8;
		  ay_par|= READ(0x03,(0xA0+i));		  
		  }
		else if(i>3&&i<=7)
		  {
		  az_par=az_par<<8;
		  az_par|= READ(0x03,(0xA0+i));		  
		  }		
	   }
	/**************************/

	for (i=0;i< RXLen;i++)
	    {
		SBUF =rdata[i];
		while(!TI);
		TI =0;
		}
    /*while(TX_Busy) ;
    TX_Busy = 1;
    TXLen = RXLen;
    for (i=0;i<RXLen;i++)
      {
       sdata[i] = rdata[i];
      }
    TXCont = 0;
  	SBUF = sdata[TXCont++];*/
    }
  }

for (i=0;i<255;i++)
    {rdata[i] = 0xff;}
//ES=1;//Enable the serial interruption.

/*******************************************************/
while(1)
  {wdt();
  if (moto_fg ==0) //ASCII
	  { 
	  if (flagserial==1)	//Wether having received data from the serial port.
	    {
	    flagserial=0;	//Reset the flag.
		/************************************/
	      if ((toupper(rdata[3])=='L')&(toupper(rdata[4])=='L')&(toupper(rdata[5])=='A'))
	        {
	        WriteCont(0x02,0x00,rdata,0);
	        WriteCont(0x02,0x10,rdata,16);
	        WriteCont(0x02,0x20,rdata,32);
	        WriteCont(0x02,0x30,rdata,48);
	        }
	      if ((toupper(rdata[3])=='C')&(toupper(rdata[4])=='H')&(toupper(rdata[5])=='S'))
	        {
	        WriteCont(0x02,0x40,rdata,0);
	        WriteCont(0x02,0x50,rdata,16);
	        }
	      if ((toupper(rdata[3])=='O')&(toupper(rdata[4])=='F')&(toupper(rdata[5])=='S'))
	        {
	        WriteCont(0x02,0x60,rdata,0);
	        WriteCont(0x02,0x70,rdata,16);
	        WriteCont(0x02,0x80,rdata,32);
	        }

		/***********************************/
		if ((rdata[3]=='t'||rdata[3]=='T')&&
		    (rdata[4]=='m'||rdata[4]=='M')&&
			(rdata[5]=='o'||rdata[5]=='O')) //ASCII TO motonola binary
			moto_fg =1;
		else
	        senddsp();

	      for (i=0;i<=254;i++)
	         {rdata[i] = 0xff;}
	    }
	  if (flagint==1)	//Wether having received interrupt from the DSP.
	    {
	    flagint=0;	//Reset the flag.
		rdDSP();
	    }
	  if (TX == 1)
	  	{
		TX = 0;
		TXCont = 0;
		SBUF = sdata[TXCont++];
		}
	   }
   else //motonola binary
	   {
	   if (flagserial ==1)//串口接收完數(shù)據(jù)標(biāo)志
	      {
		  flagserial =0;
		  rev_frame();
		  }
	   if (flagint ==1)//讀DSP標(biāo)志
	      {
		  flagint =0;
		  rdDSP(); //讀DSP數(shù)據(jù)
	      if (sdata[3]=='L'&&sdata[4]=='L'&&sdata[5]=='A')
			{
			sec_fg =1; //置秒標(biāo)志
			}
 		  ch_frame();//存取對應(yīng)DSP數(shù)據(jù)
		  }
	   if (sec_fg&&u_fg)//串口發(fā)送標(biāo)志
	   	  {
		  sec_fg =0; //清秒標(biāo)志
		  //u_fg =0;
		  sd_uart(); //串口發(fā)送數(shù)據(jù)
		  }
	   }
  }
}