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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 41 | ingob | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 41 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 41 | ingob | 29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 34 | // + this list of conditions and the following disclaimer. |
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| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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| 38 | // + for non-commercial use (directly or indirectly) |
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| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 40 | // + with our written permission |
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| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 42 | // + clearly linked as origin |
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| 171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 41 | ingob | 44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 110 | killagreg | 57 | #include <stdio.h> |
| 58 | #include <stdarg.h> |
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| 116 | killagreg | 59 | #include <string.h> |
| 41 | ingob | 60 | #include "91x_lib.h" |
| 136 | killagreg | 61 | #include "config.h" |
| 110 | killagreg | 62 | #include "main.h" |
| 49 | ingob | 63 | #include "uart0.h" |
| 41 | ingob | 64 | #include "uart1.h" |
| 119 | killagreg | 65 | #include "timer1.h" |
| 41 | ingob | 66 | #include "ubx.h" |
| 110 | killagreg | 67 | #include "mkprotocol.h" |
| 41 | ingob | 68 | |
| 116 | killagreg | 69 | |
| 41 | ingob | 70 | //------------------------------------------------------------------------------------ |
| 71 | // global variables |
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| 72 | |||
| 116 | killagreg | 73 | MKOSD_VersionInfo_t MKOSD_VersionInfo; |
| 74 | |||
| 41 | ingob | 75 | // UART0 MUXER |
| 76 | UART0_MuxerState_t UART0_Muxer = UART0_UNDEF; |
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| 110 | killagreg | 77 | u16 Uart0Baudrate = UART0_BAUD_RATE; |
| 78 | u16 Uart0MK3MagBaudrate = UART0_BAUD_RATE; |
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| 41 | ingob | 79 | |
| 110 | killagreg | 80 | // the tx buffer |
| 81 | #define UART0_TX_BUFFER_LEN 150 |
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| 82 | u8 UART0_tbuffer[UART0_TX_BUFFER_LEN]; |
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| 83 | Buffer_t UART0_tx_buffer; |
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| 49 | ingob | 84 | |
| 110 | killagreg | 85 | // the rx buffer |
| 86 | #define UART0_RX_BUFFER_LEN 150 |
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| 87 | u8 UART0_rbuffer[UART0_RX_BUFFER_LEN]; |
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| 88 | Buffer_t UART0_rx_buffer; |
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| 89 | |||
| 116 | killagreg | 90 | u8 UART0_Request_VersionInfo = FALSE; |
| 91 | u8 UART0_Request_NaviData = FALSE; |
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| 117 | killagreg | 92 | u8 UART0_Request_ErrorMessage = FALSE; |
| 116 | killagreg | 93 | u32 UART0_NaviData_Timer; |
| 94 | u32 UART0_NaviData_Interval = 0; // in ms |
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| 110 | killagreg | 95 | |
| 41 | ingob | 96 | //------------------------------------------------------------------------------------ |
| 97 | // functions |
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| 98 | |||
| 99 | /********************************************************/ |
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| 100 | /* Connect RXD & TXD to GPS */ |
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| 101 | /********************************************************/ |
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| 102 | void UART0_Connect_to_MKGPS(void) |
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| 103 | { |
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| 104 | GPIO_InitTypeDef GPIO_InitStructure; |
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| 105 | |||
| 106 | UART0_Muxer = UART0_UNDEF; |
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| 107 | |||
| 108 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
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| 109 | // unmap UART0 from Compass |
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| 110 | // set port pin 5.1 (serial data from compass) to input and disconnect from IP |
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| 111 | GPIO_StructInit(&GPIO_InitStructure); |
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| 112 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 113 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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| 114 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 196 | killagreg | 115 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
| 41 | ingob | 116 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| 117 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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| 118 | // set port pin 5.0 (serial data to compass) to input |
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| 119 | GPIO_StructInit(&GPIO_InitStructure); |
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| 120 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 121 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
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| 122 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 196 | killagreg | 123 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
| 41 | ingob | 124 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| 125 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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| 126 | // map UART0 to GPS |
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| 127 | // set port pin 6.6 (serial data from gps) to input and connect to IP |
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| 128 | GPIO_StructInit(&GPIO_InitStructure); |
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| 129 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 130 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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| 131 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 196 | killagreg | 132 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 133 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
| 134 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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| 135 | // set port pin 6.7 (serial data to gps) to output |
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| 136 | GPIO_StructInit(&GPIO_InitStructure); |
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| 137 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 138 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
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| 139 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 196 | killagreg | 140 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 141 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
| 142 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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| 143 | |||
| 144 | UART0_Muxer = UART0_MKGPS; |
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| 145 | } |
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| 146 | |||
| 147 | /********************************************************/ |
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| 148 | /* Connect RXD & TXD to MK3MAG */ |
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| 149 | /********************************************************/ |
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| 150 | void UART0_Connect_to_MK3MAG(void) |
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| 151 | { |
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| 152 | GPIO_InitTypeDef GPIO_InitStructure; |
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| 153 | |||
| 154 | UART0_Muxer = UART0_UNDEF; |
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| 155 | |||
| 156 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
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| 157 | // unmap UART0 from GPS |
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| 158 | // set port pin 6.6 (serial data from gps) to input and disconnect from IP |
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| 159 | GPIO_StructInit(&GPIO_InitStructure); |
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| 160 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 161 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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| 162 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 196 | killagreg | 163 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
| 41 | ingob | 164 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| 165 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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| 166 | // set port pin 6.7 (serial data to gps) to input |
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| 167 | GPIO_StructInit(&GPIO_InitStructure); |
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| 168 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 169 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
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| 170 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 196 | killagreg | 171 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
| 41 | ingob | 172 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| 173 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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| 174 | |||
| 175 | // map UART0 to Compass |
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| 176 | // set port pin 5.1 (serial data from compass) to input and connect to IP |
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| 177 | GPIO_StructInit(&GPIO_InitStructure); |
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| 178 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 179 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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| 180 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 196 | killagreg | 181 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 182 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
| 183 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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| 184 | // set port pin 5.0 (serial data to compass) to output |
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| 185 | GPIO_StructInit(&GPIO_InitStructure); |
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| 186 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 187 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
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| 188 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 196 | killagreg | 189 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 190 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
| 191 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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| 192 | |||
| 193 | UART0_Muxer = UART0_MK3MAG; |
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| 194 | } |
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| 195 | |||
| 196 | /********************************************************/ |
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| 197 | /* Initialize UART0 */ |
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| 198 | /********************************************************/ |
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| 199 | void UART0_Init(void) |
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| 200 | { |
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| 201 | UART_InitTypeDef UART_InitStructure; |
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| 202 | |||
| 110 | killagreg | 203 | UART1_PutString("\r\n UART0 init..."); |
| 41 | ingob | 204 | |
| 205 | SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART0 Clock |
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| 206 | |||
| 110 | killagreg | 207 | Uart0Baudrate = UART0_BAUD_RATE + ((UART0_BAUD_RATE * 2)/100); // MK3Mag baudrate is a litlle bit higher... |
| 41 | ingob | 208 | |
| 209 | /* UART0 configured as follow: |
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| 210 | - Word Length = 8 Bits |
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| 211 | - One Stop Bit |
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| 212 | - No parity |
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| 213 | - BaudRate = 57600 baud |
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| 214 | - Hardware flow control Disabled |
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| 215 | - Receive and transmit enabled |
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| 216 | - Receive and transmit FIFOs are Disabled |
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| 217 | */ |
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| 218 | UART_StructInit(&UART_InitStructure); |
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| 219 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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| 220 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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| 221 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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| 222 | UART_InitStructure.UART_BaudRate = Uart0Baudrate; |
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| 223 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
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| 224 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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| 225 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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| 226 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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| 139 | killagreg | 227 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
| 41 | ingob | 228 | |
| 229 | UART_DeInit(UART0); // reset uart 0 to default |
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| 230 | UART_Init(UART0, &UART_InitStructure); // initialize uart 0 |
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| 231 | |||
| 232 | // enable uart 0 interrupts selective |
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| 233 | UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut /*| UART_IT_FrameError*/, ENABLE); |
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| 234 | UART_Cmd(UART0, ENABLE); // enable uart 0 |
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| 136 | killagreg | 235 | // configure the uart 0 interupt line |
| 236 | VIC_Config(UART0_ITLine, VIC_IRQ, PRIORITY_UART0); |
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| 41 | ingob | 237 | // enable the uart 0 IRQ |
| 238 | VIC_ITCmd(UART0_ITLine, ENABLE); |
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| 239 | UART0_Connect_to_MKGPS(); |
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| 240 | |||
| 110 | killagreg | 241 | // initialize txd buffer |
| 112 | killagreg | 242 | Buffer_Init(&UART0_tx_buffer, UART0_tbuffer, UART0_TX_BUFFER_LEN); |
| 110 | killagreg | 243 | |
| 244 | // initialize rxd buffer |
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| 112 | killagreg | 245 | Buffer_Init(&UART0_rx_buffer, UART0_rbuffer, UART0_RX_BUFFER_LEN); |
| 49 | ingob | 246 | |
| 110 | killagreg | 247 | UART1_PutString("ok"); |
| 49 | ingob | 248 | } |
| 249 | |||
| 41 | ingob | 250 | /********************************************************/ |
| 251 | /* UART0 Interrupt Handler */ |
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| 252 | /********************************************************/ |
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| 253 | void UART0_IRQHandler(void) |
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| 254 | { |
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| 255 | u8 c; |
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| 136 | killagreg | 256 | // if receive irq (FIFO is over trigger level) or receive timeout irq (FIFO is not empty for longer times) has occured |
| 41 | ingob | 257 | if((UART_GetITStatus(UART0, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART0, UART_IT_ReceiveTimeOut) != RESET) ) |
| 258 | { |
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| 259 | UART_ClearITPendingBit(UART0, UART_IT_Receive); // clear receive interrupt flag |
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| 260 | UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
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| 261 | |||
| 262 | // if debug UART is UART0 |
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| 263 | if (DebugUART == UART0) |
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| 264 | { // forward received data to the UART1 tx buffer |
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| 265 | while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
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| 266 | { |
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| 267 | // wait for space in the tx buffer of the UART1 |
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| 268 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {}; |
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| 269 | // move the byte from the rx buffer of UART0 to the tx buffer of UART1 |
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| 270 | UART_SendData(UART1, UART_ReceiveData(UART0)); |
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| 271 | } |
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| 272 | } |
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| 273 | else // UART0 is not the DebugUART (normal operation) |
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| 274 | { |
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| 275 | // repeat until no byte is in the RxFIFO |
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| 276 | while (UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
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| 277 | { |
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| 278 | c = UART_ReceiveData(UART0); // get byte from rx fifo |
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| 279 | switch(UART0_Muxer) |
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| 280 | { |
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| 281 | case UART0_MKGPS: |
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| 282 | UBX_Parser(c); // if connected to GPS forward byte to ubx parser |
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| 110 | killagreg | 283 | MKProtocol_CollectSerialFrame(&UART0_rx_buffer, c); // ckeck for MK-Frames also |
| 41 | ingob | 284 | break; |
| 285 | case UART0_MK3MAG: |
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| 286 | // ignore any byte send from MK3MAG |
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| 287 | break; |
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| 288 | case UART0_UNDEF: |
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| 289 | default: |
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| 290 | // ignore the byte from unknown source |
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| 291 | break; |
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| 292 | } // eof switch(UART0_Muxer) |
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| 293 | } // eof while |
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| 294 | } // eof UART0 is not the DebugUART |
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| 295 | } // eof receive irq or receive timeout irq |
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| 296 | } |
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| 110 | killagreg | 297 | |
| 298 | /**************************************************************/ |
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| 299 | /* Process incomming data from debug uart */ |
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| 300 | /**************************************************************/ |
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| 301 | void UART0_ProcessRxData(void) |
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| 302 | { |
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| 303 | SerialMsg_t SerialMsg; |
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| 304 | // if data in the rxd buffer are not locked immediately return |
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| 305 | if((UART0_rx_buffer.Locked == FALSE) || (DebugUART == UART0) ) return; |
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| 306 | |||
| 190 | killagreg | 307 | MKProtocol_DecodeSerialFrameHeader(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
| 308 | MKProtocol_DecodeSerialFrameData(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
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| 309 | |||
| 310 | switch(SerialMsg.Address) // check for Slave Address |
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| 110 | killagreg | 311 | { |
| 116 | killagreg | 312 | case MKOSD_ADDRESS: // answers from the MKOSD |
| 190 | killagreg | 313 | switch(SerialMsg.CmdID) |
| 116 | killagreg | 314 | { |
| 315 | case 'V': |
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| 316 | memcpy(&MKOSD_VersionInfo, SerialMsg.pData, sizeof(MKOSD_VersionInfo)); // copy echo pattern |
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| 317 | break; |
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| 318 | default: |
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| 319 | break; |
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| 320 | } // case MKOSD_ADDRESS |
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| 321 | break; |
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| 322 | |||
| 110 | killagreg | 323 | case NC_ADDRESS: // own Slave Address |
| 190 | killagreg | 324 | switch(SerialMsg.CmdID) |
| 116 | killagreg | 325 | { |
| 117 | killagreg | 326 | case 'e': // request for the text of the error status |
| 327 | UART0_Request_ErrorMessage = TRUE; |
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| 328 | break; |
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| 329 | case 'o': // request for navigation information |
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| 330 | UART0_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
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| 331 | if(UART0_NaviData_Interval > 0) UART0_Request_NaviData = TRUE; |
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| 332 | break; |
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| 116 | killagreg | 333 | default: |
| 334 | break; |
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| 335 | } // case NC_ADDRESS |
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| 336 | // "break;" is missing here to fall thru to the common commands |
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| 110 | killagreg | 337 | |
| 338 | default: // and any other Slave Address |
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| 190 | killagreg | 339 | switch(SerialMsg.CmdID) // check CmdID |
| 116 | killagreg | 340 | { |
| 341 | case 'v': // request for version info |
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| 342 | UART0_Request_VersionInfo = TRUE; |
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| 343 | break; |
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| 344 | default: |
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| 345 | // unsupported command recieved |
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| 346 | break; |
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| 347 | } |
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| 348 | break; // default: |
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| 110 | killagreg | 349 | } |
| 112 | killagreg | 350 | Buffer_Clear(&UART0_rx_buffer); |
| 110 | killagreg | 351 | } |
| 352 | |||
| 353 | /**************************************************************/ |
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| 354 | /* Transmit tx buffer via uart0 */ |
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| 355 | /**************************************************************/ |
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| 356 | void UART0_Transmit(void) |
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| 357 | { |
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| 358 | u8 tmp_tx; |
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| 195 | killagreg | 359 | |
| 360 | IENABLE; |
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| 361 | |||
| 110 | killagreg | 362 | if(DebugUART == UART0) return; // no data output if debug uart is rederected to UART0 |
| 363 | // if something has to be send and the txd fifo is not full |
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| 364 | if((UART0_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART0, UART_FLAG_TxFIFOFull) == RESET)) |
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| 365 | { |
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| 366 | tmp_tx = UART0_tx_buffer.pData[UART0_tx_buffer.Position++]; // read next byte from txd buffer |
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| 367 | UART_SendData(UART0, tmp_tx); // put character to txd fifo |
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| 368 | // if terminating character or end of txd buffer reached |
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| 369 | if((tmp_tx == '\r') || (UART0_tx_buffer.Position == UART0_tx_buffer.Size)) |
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| 370 | { |
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| 112 | killagreg | 371 | Buffer_Clear(&UART0_tx_buffer); |
| 110 | killagreg | 372 | } |
| 373 | } |
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| 195 | killagreg | 374 | |
| 375 | IDISABLE; |
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| 110 | killagreg | 376 | } |
| 377 | |||
| 378 | |||
| 379 | /**************************************************************/ |
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| 380 | /* Send the answers to incomming commands at the uart0 */ |
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| 381 | /**************************************************************/ |
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| 382 | void UART0_TransmitTxData(void) |
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| 383 | { |
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| 384 | if(DebugUART == UART0) return; |
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| 385 | UART0_Transmit(); // output pending bytes in tx buffer |
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| 386 | if(UART0_tx_buffer.Locked == TRUE) return; |
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| 387 | |||
| 151 | killagreg | 388 | else if(UART0_Request_ErrorMessage && (UART0_tx_buffer.Locked == FALSE)) |
| 117 | killagreg | 389 | { |
| 390 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
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| 391 | UART0_Request_ErrorMessage = FALSE; |
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| 392 | } |
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| 151 | killagreg | 393 | else if(UART0_Request_VersionInfo && (UART0_tx_buffer.Locked == FALSE)) |
| 116 | killagreg | 394 | { |
| 395 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
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| 396 | UART0_Request_VersionInfo = FALSE; |
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| 397 | } |
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| 151 | killagreg | 398 | else if(( ((UART0_NaviData_Interval >0) && CheckDelay(UART0_NaviData_Timer) ) || UART0_Request_NaviData) && (UART0_tx_buffer.Locked == FALSE)) |
| 110 | killagreg | 399 | { |
| 400 | NaviData.Errorcode = ErrorCode; |
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| 401 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
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| 402 | UART0_NaviData_Timer = SetDelay(UART0_NaviData_Interval); |
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| 403 | UART0_Request_NaviData = FALSE; |
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| 404 | } |
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| 405 | UART0_Transmit(); // output pending bytes in tx buffer |
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| 406 | } |
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| 116 | killagreg | 407 | |
| 408 | |||
| 409 | /**************************************************************/ |
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| 410 | /* Get the version of the MKOSD */ |
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| 411 | /**************************************************************/ |
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| 412 | void UART0_GetMKOSDVersion(void) |
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| 413 | { |
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| 414 | u32 timeout; |
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| 415 | u8 msg[64]; |
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| 416 | |||
| 417 | MKOSD_VersionInfo.SWMajor = 0xFF; |
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| 418 | MKOSD_VersionInfo.SWMinor = 0xFF; |
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| 419 | MKOSD_VersionInfo.SWPatch = 0xFF; |
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| 420 | |||
| 421 | if(UART0_Muxer != UART0_MKGPS) UART0_Connect_to_MKGPS(); |
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| 422 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
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| 423 | |||
| 424 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'v', MKOSD_ADDRESS, 0); // request for version info |
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| 425 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
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| 426 | |||
| 427 | timeout = SetDelay(500); |
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| 428 | do |
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| 429 | { |
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| 430 | UART0_ProcessRxData(); |
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| 431 | if(MKOSD_VersionInfo.SWMajor != 0xFF) break; |
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| 432 | }while(!CheckDelay(timeout)); |
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| 433 | |||
| 434 | if(MKOSD_VersionInfo.SWMajor != 0xFF) |
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| 435 | { |
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| 436 | sprintf(msg, "\n\r MK-OSD V%d.%d%c", MKOSD_VersionInfo.SWMajor, MKOSD_VersionInfo.SWMinor, 'a'+MKOSD_VersionInfo.SWPatch); |
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| 437 | UART1_PutString(msg); |
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| 438 | } |
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| 439 | //else UART1_PutString("\n\r No version information from MK-OSD."); |
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| 440 | } |