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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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| 57 | //#include <stdio.h> |
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| 58 | #include "91x_lib.h" |
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| 136 | killagreg | 59 | #include "config.h" |
| 41 | ingob | 60 | #include "uart1.h" |
| 190 | killagreg | 61 | #include "mkprotocol.h" |
| 41 | ingob | 62 | |
| 190 | killagreg | 63 | // the tx buffer |
| 64 | #define UART2_TX_BUFFER_LEN 150 |
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| 65 | u8 UART2_tbuffer[UART2_TX_BUFFER_LEN]; |
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| 66 | Buffer_t UART2_tx_buffer; |
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| 67 | |||
| 41 | ingob | 68 | /********************************************************/ |
| 69 | /* Initialize UART2 */ |
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| 70 | /********************************************************/ |
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| 71 | void UART2_Init(void) |
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| 72 | { |
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| 73 | UART_InitTypeDef UART_InitStructure; |
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| 74 | GPIO_InitTypeDef GPIO_InitStructure; |
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| 75 | |||
| 110 | killagreg | 76 | UART1_PutString("\r\n UART2 init..."); |
| 41 | ingob | 77 | |
| 190 | killagreg | 78 | // initialize txd buffer |
| 79 | Buffer_Init(&UART2_tx_buffer, UART2_tbuffer, UART2_TX_BUFFER_LEN); |
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| 80 | |||
| 41 | ingob | 81 | SCU_APBPeriphClockConfig(__UART2, ENABLE); // Enable the UART2 Clock |
| 82 | |||
| 83 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); // Enable the GPIO5 Clock |
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| 84 | /*Configure UART2_Rx pin GPIO5.2*/ |
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| 85 | GPIO_StructInit(&GPIO_InitStructure); |
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| 86 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 87 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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| 88 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 196 | killagreg | 89 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 90 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART2_RxD |
| 91 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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| 92 | |||
| 93 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
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| 94 | /*Configure UART2_Tx pin GPIO3.0*/ |
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| 95 | GPIO_StructInit(&GPIO_InitStructure); |
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| 96 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 97 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
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| 98 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 99 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART2_TX |
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| 100 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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| 101 | |||
| 102 | |||
| 103 | /* UART2 configured as follow: |
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| 104 | - Word Length = 8 Bits |
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| 105 | - One Stop Bit |
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| 106 | - No parity |
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| 107 | - BaudRate = 57600 baud |
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| 108 | - Hardware flow control Disabled |
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| 109 | - Receive and transmit enabled |
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| 110 | - Receive and transmit FIFOs are Disabled |
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| 111 | */ |
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| 112 | UART_StructInit(&UART_InitStructure); |
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| 113 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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| 114 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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| 115 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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| 110 | killagreg | 116 | UART_InitStructure.UART_BaudRate = UART2_BAUD_RATE; |
| 41 | ingob | 117 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
| 118 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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| 119 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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| 120 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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| 139 | killagreg | 121 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
| 41 | ingob | 122 | |
| 123 | UART_DeInit(UART2); // reset uart 2 to default |
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| 124 | UART_Init(UART2, &UART_InitStructure); // initialize uart 2 |
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| 125 | |||
| 126 | // enable uart 2 interrupts selective |
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| 127 | UART_ITConfig(UART2, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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| 128 | UART_Cmd(UART2, ENABLE); // enable uart 2 |
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| 136 | killagreg | 129 | // configure the uart 2 interupt line |
| 130 | VIC_Config(UART2_ITLine, VIC_IRQ, PRIORITY_UART2); |
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| 41 | ingob | 131 | // enable the uart 2 IRQ |
| 132 | VIC_ITCmd(UART2_ITLine, ENABLE); |
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| 133 | |||
| 110 | killagreg | 134 | UART1_PutString("ok"); |
| 41 | ingob | 135 | } |
| 136 | |||
| 137 | |||
| 138 | void UART2_Deinit(void) |
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| 139 | { |
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| 140 | GPIO_InitTypeDef GPIO_InitStructure; |
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| 141 | |||
| 110 | killagreg | 142 | UART1_PutString("\r\n UART2 deinit..."); |
| 41 | ingob | 143 | VIC_ITCmd(UART2_ITLine, DISABLE); // disable the uart 2 IRQ |
| 144 | UART_Cmd(UART2, DISABLE); // disable uart 2 |
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| 145 | UART_DeInit(UART2); // reset uart 0 to default |
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| 146 | |||
| 147 | SCU_APBPeriphClockConfig(__UART2, DISABLE); // disable the UART2 Clock |
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| 148 | |||
| 149 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
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| 150 | // unmap UART2 from FC |
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| 151 | // set port pin 5.2 (serial data from FC) to input and disconnect from IP |
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| 152 | GPIO_StructInit(&GPIO_InitStructure); |
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| 153 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 154 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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| 155 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 196 | killagreg | 156 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
| 41 | ingob | 157 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| 158 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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| 159 | |||
| 160 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); |
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| 161 | // set port pin 3.0 (serial data to FC) to input and disconnect from IP |
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| 162 | GPIO_StructInit(&GPIO_InitStructure); |
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| 163 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 164 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
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| 165 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 196 | killagreg | 166 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
| 41 | ingob | 167 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| 168 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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| 169 | |||
| 110 | killagreg | 170 | UART1_PutString("ok"); |
| 41 | ingob | 171 | } |
| 172 | |||
| 173 | /********************************************************/ |
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| 174 | /* UART2 Interrupt Handler */ |
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| 175 | /********************************************************/ |
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| 176 | void UART2_IRQHandler(void) |
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| 177 | { |
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| 195 | killagreg | 178 | IENABLE; |
| 179 | |||
| 41 | ingob | 180 | // if receive irq or receive timeout irq has occured |
| 181 | if((UART_GetITStatus(UART2, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART2, UART_IT_ReceiveTimeOut) != RESET) ) |
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| 182 | { |
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| 183 | UART_ClearITPendingBit(UART2, UART_IT_Receive); // clear receive interrupt flag |
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| 184 | UART_ClearITPendingBit(UART2, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
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| 185 | |||
| 186 | // if debug UART is UART2 |
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| 187 | if (DebugUART == UART2) |
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| 188 | { // forward received data to the UART1 tx buffer |
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| 189 | while(UART_GetFlagStatus(UART2, UART_FLAG_RxFIFOEmpty) != SET) |
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| 190 | { |
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| 191 | // wait for space in the tx buffer of the UART1 |
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| 192 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {}; |
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| 193 | // move the byte from the rx buffer of UART2 to the tx buffer of UART1 |
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| 194 | UART_SendData(UART1, UART_ReceiveData(UART2)); |
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| 195 | } |
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| 196 | } |
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| 197 | else |
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| 198 | { |
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| 199 | // ignore serial data from the FC |
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| 200 | while(UART_GetFlagStatus(UART2, UART_FLAG_RxFIFOEmpty) != SET) |
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| 190 | killagreg | 201 | { |
| 202 | UART_ReceiveData(UART2); |
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| 203 | } |
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| 41 | ingob | 204 | } |
| 205 | } // eof receive irq or receive timeout irq |
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| 195 | killagreg | 206 | |
| 207 | IDISABLE; |
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| 41 | ingob | 208 | } |
| 190 | killagreg | 209 | |
| 210 | /**************************************************************/ |
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| 211 | /* Transmit tx buffer via uart2 */ |
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| 212 | /**************************************************************/ |
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| 213 | void UART2_Transmit(void) |
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| 214 | { |
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| 215 | u8 tmp_tx; |
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| 216 | if(DebugUART == UART2) return; // no data output if debug uart is rederected to UART2 |
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| 217 | // if something has to be send and the txd fifo is not full |
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| 218 | if((UART2_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART2, UART_FLAG_TxFIFOFull) == RESET)) |
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| 219 | { |
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| 220 | tmp_tx = UART2_tx_buffer.pData[UART2_tx_buffer.Position++]; // read next byte from txd buffer |
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| 221 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
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| 222 | // if terminating character or end of txd buffer reached |
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| 223 | if((tmp_tx == '\r') || (UART2_tx_buffer.Position == UART2_tx_buffer.Size)) |
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| 224 | { |
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| 225 | Buffer_Clear(&UART2_tx_buffer); |
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| 226 | } |
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| 227 | } |
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| 228 | } |
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| 229 | |||
| 230 | /**************************************************************/ |
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| 231 | /* Send the answers to incomming commands at the uart2 */ |
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| 232 | /**************************************************************/ |
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| 233 | void UART2_TransmitTxData(void) |
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| 234 | { |
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| 235 | if(DebugUART == UART2) return; |
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| 236 | UART2_Transmit(); // output pending bytes in tx buffer |
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| 237 | } |
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| 238 | |||
| 239 | |||
| 240 | void UART2_ProcessRxData(void) |
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| 241 | { |
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| 242 | |||
| 243 | } |