Subversion Repositories NaviCtrl

/*#######################################################################################*/

/* !!! 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 "91x_lib.h"

#include "config.h"

//________________________________________________________________________________________________________________________________________

// Module name:                 ssc.c 

// Compiler used:               avr-gcc 3.4.5

// Last Modifikation:   24.07.2007

// Version:                             1.02

// Authors:                             Stephan Busker  

// Description:                 Source files for access to the synchrnous serial channel.

//                                              Copyright (C) 2007 Stephan Busker

//........................................................................................................................................

// ext. Functions:              extern void                     SSC_Init(void);         

//                                              extern u8                               SSC_GetChar (void);

//                                              extern void                     SSC_PutChar (u8 Byte);

//                                              extern void                     SSC_Disable(void); 

//                                              extern void                     SSC_Enable(void); 

//                                              extern void                             SSC_ClearRxFifo();

//........................................................................................................................................

// URL:                                 www.Mikro-Control.de

// mailto:                              stephan.busker@mikro-control.de

//________________________________________________________________________________________________________________________________________

//________________________________________________________________________________________________________________________________________

// Function:    SSC_Enable(void);

// 

// Description: This function enables chipselect of the sdcard (active low) 

//                              

//

// Returnvalue: none

//________________________________________________________________________________________________________________________________________

void SSC_Enable(void)

{

        // enable chipselect of the sd-card (P5.4 -> SD-CS, active low). 

        GPIO_WriteBit(GPIO5, GPIO_Pin_4 , Bit_RESET);

}

//________________________________________________________________________________________________________________________________________

// Function:    SSC_Disable(void);

// 

// Description: This function disables chipselect of the sdcard (active low) 

//                              

//

// Returnvalue: none

//________________________________________________________________________________________________________________________________________

void SSC_Disable(void)

{

        // disable chipselect of the sd-card (P5.4 -> SD-CS, active low). 

        GPIO_WriteBit(GPIO5, GPIO_Pin_4 , Bit_SET);

}

//________________________________________________________________________________________________________________________________________

// Function:    SSC_Init(void);

// 

// Description: This function initialises the synchronus serial channel to the sdcard. 

//                              

//

// Returnvalue: none

//________________________________________________________________________________________________________________________________________

void SSC_Init(void)

{

        GPIO_InitTypeDef        GPIO_InitStructure;

        SSP_InitTypeDef         SSP_InitStructure;

        WIU_InitTypeDef         WIU_InitStructure;

        // enable APB clock for SPI1

        SCU_APBPeriphClockConfig(__SSP1 ,ENABLE);

        // configure P5.4 -> SD-CS as an output pin

        GPIO_StructInit(&GPIO_InitStructure);

        GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;

        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;

        GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;

        GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable;

        GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1;

        GPIO_Init (GPIO5, &GPIO_InitStructure);

        // configure P3.4 -> SCK1 and P3.6 -> MOSI1 as an output pin

        GPIO_StructInit(&GPIO_InitStructure);

        GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;

        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_6;

        GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;

        GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;

        GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2;

        GPIO_Init (GPIO3, &GPIO_InitStructure);

        // configure P3.5 <- MISO1 as an input pin

        GPIO_StructInit(&GPIO_InitStructure);

        GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;

        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;

        GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;

        GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable;

        GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;

        GPIO_Init (GPIO3, &GPIO_InitStructure);

        // configure SPI1

        SSP_DeInit(SSP1);

        SSP_StructInit(&SSP_InitStructure);

        SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola;

        SSP_InitStructure.SSP_Mode = SSP_Mode_Master;

        SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge;

        SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low;

        // Set Baud Rate (Prescaler)

        // bit rate is BRCLK/SSP_ClockPrescaler/(1+SSP_ClockRate))

        // With MSCLK = 48MHz/2 = BRCLK we get for the SPICLK = 24Mhz / 8 / (1+5) = 500 kHz

        SSP_InitStructure.SSP_ClockRate = 5; //5

        SSP_InitStructure.SSP_ClockPrescaler = 8;

        SSP_Init(SSP1, &SSP_InitStructure);

        SSC_Disable();

        SSP_Cmd(SSP1, ENABLE);

        // Configure SD_SWITCH at pin GPIO5.3 as an external irq 11

        // configure the port

        SCU_APBPeriphClockConfig(__GPIO5, ENABLE); // Enable the GPIO5 Clock    

    GPIO_InitStructure.GPIO_Direction =         GPIO_PinInput;

    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_3;

        GPIO_InitStructure.GPIO_Type =                  GPIO_Type_PushPull ;

        GPIO_InitStructure.GPIO_IPInputConnected =      GPIO_IPInputConnected_Disable;

        GPIO_InitStructure.GPIO_Alternate =     GPIO_InputAlt1;

    GPIO_Init(GPIO5, &GPIO_InitStructure);

        // configure the EXT11 interrupt line (P5.3) as an IRQ with the lowest priority

        SCU_APBPeriphClockConfig(__WIU, ENABLE);

        WIU_Cmd(ENABLE);

        WIU_ClearITPendingBit(WIU_Line11);

        //WIU_DeInit();

        WIU_InitStructure.WIU_TriggerEdge = WIU_FallingEdge;

        WIU_InitStructure.WIU_Line = WIU_Line11;

        WIU_Init(&WIU_InitStructure);

        // The  EXTIT1_IRQHandler() is called every time the SD-Switch is activated (falling edge)

        // by inserting an sd-card

        SCU_WakeUpLineConfig(11);

    VIC_Config(EXTIT1_ITLine, VIC_IRQ, PRIORITY_SDSWITCH);

    VIC_ITCmd(EXTIT1_ITLine, ENABLE);

}

void SSC_Deinit(void)

{

        GPIO_InitTypeDef        GPIO_InitStructure;

        SSP_Cmd(SSP1, DISABLE);

        SSP_DeInit(SSP1);

        // configure P5.4 -> SD-CS as an input pin

        GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;

        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;

        GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;

        GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable;

        GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;

        GPIO_Init (GPIO5, &GPIO_InitStructure);

        // configure P3.4 -> SCK1 and P3.6 -> MOSI1 as an input pin

        GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;

        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_6;

        GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;

        GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable;

        GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;

        GPIO_Init (GPIO3, &GPIO_InitStructure);

        // configure P3.5 <- MISO1 as an input pin

        GPIO_InitStructure.GPIO_Direction = GPIO_PinInput;

        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;

        GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull;

        GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable;

        GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;

        GPIO_Init (GPIO3, &GPIO_InitStructure);

        // disable APB clock for SPI1

        SCU_APBPeriphClockConfig(__SSP1 ,DISABLE);

        // configure the port of the SDC-Switch

        SCU_APBPeriphClockConfig(__GPIO5, ENABLE); // Enable the GPIO5 Clock    

    GPIO_InitStructure.GPIO_Direction =         GPIO_PinInput;

    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_3;

        GPIO_InitStructure.GPIO_Type =                  GPIO_Type_PushPull ;

        GPIO_InitStructure.GPIO_IPInputConnected =      GPIO_IPInputConnected_Disable;

        GPIO_InitStructure.GPIO_Alternate =     GPIO_InputAlt1;

    GPIO_Init(GPIO5, &GPIO_InitStructure);

}

//________________________________________________________________________________________________________________________________________

// Function:    SSC_GetChar(void);

// 

// Description: This function reads one byte from the SSC

//                              

//

// Returnvalue: the byte received.

//________________________________________________________________________________________________________________________________________

u8 SSC_GetChar (void)

{

        u8 Byte = 0;

        while(SSP_GetFlagStatus(SSP1, SSP_FLAG_TxFifoNotFull) != SET);  // wait for space in the tx fifo

        SSP_SendData(SSP1, 0xFF);// send dymmy byte (0xFF) as master to receive a byte from the slave

        while(SSP_GetFlagStatus(SSP1, SSP_FLAG_TxFifoEmpty) != SET); // wait for the byte to be sent

        Byte = SSP_ReceiveData(SSP1); // read the byte transmitted from the slave

        return (Byte);

}

//________________________________________________________________________________________________________________________________________

void SSC_ClearRxFifo (void)

{

        // wait that the tx fifo is empty

        while(SSP_GetFlagStatus(SSP1, SSP_FLAG_TxFifoEmpty) != SET);

        // then empty the rx fifo by reading all the bytes that are available

        while(SSP_GetFlagStatus(SSP1, SSP_FLAG_RxFifoNotEmpty) == SET) SSP_ReceiveData(SSP1);

}

//________________________________________________________________________________________________________________________________________

// Function:    SSC_PutChar(u8 Byte);

// 

// Description: This function writes one byte to the SSC 

//                              

//

// Returnvalue: none

//________________________________________________________________________________________________________________________________________

void SSC_PutChar (u8 Byte)

{

        // wait for some space in the tx fifo

        while(SSP_GetFlagStatus(SSP1, SSP_FLAG_TxFifoNotFull) != SET);

        // put the byte to send in the tx fifo

        SSP_SendData(SSP1, Byte);

}