0,0 → 1,458 |
/*#######################################################################################*/ |
/* !!! 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 <string.h> |
#include "91x_lib.h" |
#include "config.h" |
#include "main.h" |
#include "uart1.h" |
#include "mkprotocol.h" |
#include "waypoints.h" |
#include "gps.h" |
#include "timer1.h" |
#include "uart0.h" |
#include "uart1.h" |
#include "uart2.h" |
#include "menu.h" |
#include "usb.h" |
|
#define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
u32 USB_AboTimeOut = 0; |
|
u16 Echo; // 2 bytes recieved will be sent back as echo |
|
// the primary rx fifo |
#define USB_RX_FIFO_LEN 512 |
u8 USB_rxfifobuffer[USB_RX_FIFO_LEN]; |
fifo_t USB_rx_fifo; |
|
// the tx buffer |
#define USB_TX_BUFFER_LEN 150 |
u8 USB_tbuffer[USB_TX_BUFFER_LEN]; |
Buffer_t USB_tx_buffer; |
|
// the rx buffer |
#define USB_RX_BUFFER_LEN 150 |
u8 USB_rbuffer[USB_RX_BUFFER_LEN]; |
Buffer_t USB_rx_buffer; |
|
u8 USB_Request_VersionInfo = FALSE; |
u8 USB_Request_SendFollowMe = FALSE; |
u8 USB_Request_ExternalControl= FALSE; |
u8 USB_Request_Display = FALSE; |
u8 USB_Request_Display1 = FALSE; |
u8 USB_Request_DebugData = FALSE; |
u8 USB_Request_DebugLabel = 255; |
u8 USB_Request_NaviData = FALSE; |
u8 USB_Request_ErrorMessage = FALSE; |
u8 USB_Request_Data3D = FALSE; |
u8 USB_Request_Echo = FALSE; |
u8 USB_DisplayKeys = 0; |
u8 USB_DisplayLine = 0; |
u8 USB_ConfirmFrame = 0; |
|
u32 USB_DebugData_Timer = 0; |
u32 USB_DebugData_Interval = 0; // in ms |
u32 USB_NaviData_Timer = 0; |
u32 USB_NaviData_Interval = 0; // in ms |
u32 USB_Data3D_Timer = 0; |
u32 USB_Data3D_Interval = 0; // in ms |
u32 USB_Display_Timer = 0; |
u32 USB_Display_Interval = 0; // in ms |
|
//----------------------------------------------------------------- |
void USB_ConfigInit(void) |
{ |
GPIO_InitTypeDef GPIO_InitStructure; |
|
UART1_PutString("\r\n USB init..."); |
#ifdef MCLK96MHZ |
//USB clock = MCLK/2 = 48MHz |
SCU_USBCLKConfig(SCU_USBCLK_MCLK2); |
#else |
//USB clock = MCLK = 48MHz |
SCU_USBCLKConfig(SCU_USBCLK_MCLK); |
#endif |
//Enable USB clock |
SCU_AHBPeriphClockConfig(__USB,ENABLE); |
SCU_AHBPeriphReset(__USB,DISABLE); |
SCU_AHBPeriphClockConfig(__USB48M,ENABLE); |
|
//Configure GPIO0 (D+ Pull-Up on P0.1) |
SCU_APBPeriphClockConfig(__GPIO0 ,ENABLE); |
SCU_APBPeriphReset(__GPIO0,DISABLE); |
|
// GPIO_DeInit(P0.1); |
GPIO_StructInit(&GPIO_InitStructure); |
GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
GPIO_InitStructure.GPIO_Alternate=GPIO_OutputAlt1; |
GPIO_Init (GPIO0, &GPIO_InitStructure); |
|
// initialize the rx fifo, block UART IRQ geting a byte from fifo |
fifo_init(&USB_rx_fifo, USB_rxfifobuffer, USB_RX_FIFO_LEN, NO_ITLine, USBLP_ITLine); |
|
// initialize txd buffer |
Buffer_Init(&USB_tx_buffer, USB_tbuffer, USB_TX_BUFFER_LEN); |
|
// initialize rxd buffer |
Buffer_Init(&USB_rx_buffer, USB_rbuffer, USB_RX_BUFFER_LEN); |
|
VIC_Config(USBLP_ITLine, VIC_IRQ, PRIORITY_USB); |
//## VIC_ITCmd(USBLP_ITLine, ENABLE); |
|
USB_Init(); |
|
UART1_PutString("ok"); |
} |
|
|
/**************************************************************/ |
/* Process incomming data from debug uart */ |
/**************************************************************/ |
void USB_ProcessRxData(void) |
{ |
u8 c; |
SerialMsg_t SerialMsg; |
|
// if data in the rxd buffer are not locked immediately return |
// if rx buffer is not locked |
if(USB_rx_buffer.Locked == FALSE) |
{ |
//collect data from primary rx fifo |
while(fifo_get(&USB_rx_fifo, &c)) |
{ |
// break if complete frame has been collected |
if(MKProtocol_CollectSerialFrame(&USB_rx_buffer, c)) break; |
} |
} |
if(USB_rx_buffer.Locked == FALSE) return; |
|
MKProtocol_DecodeSerialFrameHeader(&USB_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
MKProtocol_DecodeSerialFrameData(&USB_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 'z': // connection checker |
memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
USB_Request_Echo = TRUE; |
break; |
|
case 'e': // request for the text of the error status |
USB_Request_ErrorMessage = TRUE; |
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 |
USB_Request_DebugLabel = SerialMsg.pData[0]; |
if(USB_Request_DebugLabel > 31) USB_Request_DebugLabel = 31; |
break; |
/* |
case 'b': // submit extern control |
memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
USB_ConfirmFrame = ExternControl.Frame; |
break; |
*/ |
case 'd': // request for debug data; |
USB_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
if(USB_DebugData_Interval > 0) USB_Request_DebugData = TRUE; |
USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
break; |
|
case 'c': // request for 3D data; |
USB_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
if(USB_Data3D_Interval > 0) USB_Request_Data3D = TRUE; |
USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
break; |
|
case 'h':// reqest for display line |
if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
{ |
USB_DisplayLine = 2; |
USB_Display_Interval = 0; |
} |
else |
{ |
USB_DisplayKeys |= ~SerialMsg.pData[0]; |
USB_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
USB_DisplayLine = 4; |
USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
} |
USB_Request_Display = TRUE; |
break; |
|
case 'l':// reqest for display columns |
MenuItem = SerialMsg.pData[0]; |
USB_Request_Display1 = TRUE; |
break; |
|
case 'o': // request for navigation information |
USB_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
if(USB_NaviData_Interval > 0) USB_Request_NaviData = TRUE; |
USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
break; |
|
case 'v': // request for version info |
USB_Request_VersionInfo = TRUE; |
break; |
default: |
// unsupported command recieved |
break; |
} |
break; // default: |
} |
Buffer_Clear(&USB_rx_buffer); |
} |
|
|
//----------------------------------------------------------------- |
void USB_CableConfig(FunctionalState NewState) |
{ |
if (NewState == ENABLE) |
GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_RESET); |
else |
GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_SET); |
} |
//----------------------------------------------------------------- |
void USB_EnterLowPowerMode(void) |
{ |
/* Set the device state to suspend */ |
bDeviceState = SUSPENDED; |
} |
//----------------------------------------------------------------- |
void USB_LeaveLowPowerMode(void) |
{ |
DEVICE_INFO *pInfo = &Device_Info; |
|
/* Set the device state to the correct state */ |
if (pInfo->Current_Configuration != 0) |
{ |
/* Device configured */ |
bDeviceState = CONFIGURED; |
} |
else |
{ |
bDeviceState = ATTACHED; |
} |
} |
|
|
//----------------------------------------------------------------- |
void USB_PutString(u8 *string) |
{ |
u8 i = 0; |
u16 timeout = 0; |
|
while (string[i++] != 0){} // get string len |
while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
UserToPMABufferCopy(string, ENDP1_TXADDR, ++i); // copy string to usb buffer |
SetEPTxCount(ENDP1,i); |
SetEPTxValid(ENDP1); |
} |
|
//----------------------------------------------------------------- |
void USB_PutChar(u8 c) |
{ |
u16 timeout = 0; |
while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
UserToPMABufferCopy(&c, ENDP1_TXADDR, 2); |
SetEPTxCount(ENDP1,2); |
SetEPTxValid(ENDP1); |
} |
|
//----------------------------------------------------------------- |
void USB_SendData(u8 *pdata, u16 count) |
{ |
u8 i; |
count++; |
u16 timeout = 0; |
|
for (i=0;i< (count/64)+1;i++) |
{ |
while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){if (timeout++ > 60000) return;} |
if (i < (count/64)) |
{ |
UserToPMABufferCopy(&pdata[i*64], ENDP1_TXADDR, 64); |
SetEPTxCount(ENDP1,64); |
} |
else |
{ |
UserToPMABufferCopy(&pdata[i*64], ENDP1_TXADDR, count % 64); |
SetEPTxCount(ENDP1, count % 64); |
} |
SetEPTxValid(ENDP1); |
} |
} |
|
/**************************************************************/ |
/* Transmit tx buffer via usb */ |
/**************************************************************/ |
void USB_Transmit(void) |
{ // nur blockweises kopieren des sendebuffers, nicht alles mit einem mal |
// if something has to be send and the txd fifo is not full |
|
if(USB_tx_buffer.Locked == TRUE) |
{ |
if(_GetEPTxStatus(ENDP1) == EP_TX_NAK) |
{ |
u16 i; |
if(USB_tx_buffer.Position < USB_tx_buffer.DataBytes) |
{ |
i = USB_tx_buffer.DataBytes - USB_tx_buffer.Position; // bytes to send |
if(i > 64) i = 64; // limit packet size to 64 bytes |
UserToPMABufferCopy(&(USB_tx_buffer.pData[USB_tx_buffer.Position]), ENDP1_TXADDR, i); |
SetEPTxCount(ENDP1,i); |
SetEPTxValid(ENDP1); |
USB_tx_buffer.Position += i; |
} |
} |
if(USB_tx_buffer.Position >= USB_tx_buffer.DataBytes) // all bytes transfered |
{ |
Buffer_Clear(&USB_tx_buffer); // clear buffer |
} |
} |
} |
|
/**************************************************************/ |
/* Send the answers to incomming commands at the debug uart */ |
/**************************************************************/ |
void USB_TransmitTxData(void) |
{ |
USB_Transmit(); // output pending bytes in tx buffer |
if((USB_tx_buffer.Locked == TRUE)) return; |
|
if(CheckDelay(USB_AboTimeOut)) |
{ |
USB_DebugData_Interval = 0; |
USB_NaviData_Interval = 0; |
USB_Data3D_Interval = 0; |
USB_Display_Interval = 0; |
} |
|
if((USB_Request_DebugLabel != 0xFF) && (USB_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'A', NC_ADDRESS, 2, &USB_Request_DebugLabel, sizeof(USB_Request_DebugLabel), (u8 *) ANALOG_LABEL[USB_Request_DebugLabel], 16); |
USB_Request_DebugLabel = 0xFF; |
} |
else if(USB_ConfirmFrame && (USB_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'B', NC_ADDRESS, 1, &USB_ConfirmFrame, sizeof(USB_ConfirmFrame)); |
USB_ConfirmFrame = 0; |
} |
else if( (( (USB_DebugData_Interval > 0) && CheckDelay(USB_DebugData_Timer)) || USB_Request_DebugData) && (USB_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
USB_DebugData_Timer = SetDelay(USB_DebugData_Interval); |
USB_Request_DebugData = FALSE; |
} |
else if((( (USB_Data3D_Interval > 0) && CheckDelay(USB_Data3D_Timer) ) || USB_Request_Data3D) && (USB_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
USB_Data3D_Timer = SetDelay(USB_Data3D_Interval); |
USB_Request_Data3D = FALSE; |
} |
else if(USB_Request_ExternalControl && (USB_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
USB_Request_ExternalControl = FALSE; |
} |
else if( (( (USB_Display_Interval > 0) && CheckDelay(USB_Display_Timer)) || USB_Request_Display) && (USB_tx_buffer.Locked == FALSE)) |
{ |
Menu_Update(USB_DisplayKeys); |
USB_DisplayKeys = 0; |
MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
USB_Request_Display = FALSE; |
} |
else if(USB_Request_Display1 && (USB_tx_buffer.Locked == FALSE)) |
{ |
Menu_Update(0); |
MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
USB_Request_Display1 = FALSE; |
} |
else if(USB_Request_VersionInfo && (USB_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
USB_Request_VersionInfo = FALSE; |
} |
else if(( (USB_NaviData_Interval && CheckDelay(USB_NaviData_Timer) ) || USB_Request_NaviData) && (USB_tx_buffer.Locked == FALSE)) |
{ |
NaviData.Errorcode = ErrorCode; |
MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
USB_NaviData_Timer = SetDelay(USB_NaviData_Interval); |
USB_Request_NaviData = FALSE; |
} |
else if(USB_Request_ErrorMessage && (USB_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
USB_Request_ErrorMessage = FALSE; |
} |
USB_Transmit(); // output pending bytes in tx buffer |
} |