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| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + FOR NON COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //#include <stdio.h> |
| #include "91x_lib.h" |
| #include "config.h" |
| #include "uart1.h" |
| #include "mkprotocol.h" |
| |
| // the tx buffer |
| #define UART2_TX_BUFFER_LEN 150 |
| u8 UART2_tbuffer[UART2_TX_BUFFER_LEN]; |
| Buffer_t UART2_tx_buffer; |
| |
| /********************************************************/ |
| /* Initialize UART2 */ |
| /********************************************************/ |
| void UART2_Init(void) |
| { |
| UART_InitTypeDef UART_InitStructure; |
| GPIO_InitTypeDef GPIO_InitStructure; |
| |
| UART1_PutString("\r\n UART2 init..."); |
| |
| // initialize txd buffer |
| Buffer_Init(&UART2_tx_buffer, UART2_tbuffer, UART2_TX_BUFFER_LEN); |
| |
| SCU_APBPeriphClockConfig(__UART2, ENABLE); // Enable the UART2 Clock |
| |
| SCU_APBPeriphClockConfig(__GPIO5, ENABLE); // Enable the GPIO5 Clock |
| /*Configure UART2_Rx pin GPIO5.2*/ |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART2_RxD |
| GPIO_Init(GPIO5, &GPIO_InitStructure); |
| |
| SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
| /*Configure UART2_Tx pin GPIO3.0*/ |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART2_TX |
| GPIO_Init(GPIO3, &GPIO_InitStructure); |
| |
| |
| /* UART2 configured as follow: |
| - Word Length = 8 Bits |
| - One Stop Bit |
| - No parity |
| - BaudRate = 57600 baud |
| - Hardware flow control Disabled |
| - Receive and transmit enabled |
| - Receive and transmit FIFOs are Disabled |
| */ |
| UART_StructInit(&UART_InitStructure); |
| UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
| UART_InitStructure.UART_StopBits = UART_StopBits_1; |
| UART_InitStructure.UART_Parity = UART_Parity_No ; |
| UART_InitStructure.UART_BaudRate = UART2_BAUD_RATE; |
| UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
| UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
| UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
| UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
| UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
| |
| UART_DeInit(UART2); // reset uart 2 to default |
| UART_Init(UART2, &UART_InitStructure); // initialize uart 2 |
| |
| // enable uart 2 interrupts selective |
| UART_ITConfig(UART2, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
| UART_Cmd(UART2, ENABLE); // enable uart 2 |
| // configure the uart 2 interupt line |
| VIC_Config(UART2_ITLine, VIC_IRQ, PRIORITY_UART2); |
| // enable the uart 2 IRQ |
| VIC_ITCmd(UART2_ITLine, ENABLE); |
| |
| UART1_PutString("ok"); |
| } |
| |
| |
| void UART2_Deinit(void) |
| { |
| GPIO_InitTypeDef GPIO_InitStructure; |
| |
| UART1_PutString("\r\n UART2 deinit..."); |
| VIC_ITCmd(UART2_ITLine, DISABLE); // disable the uart 2 IRQ |
| UART_Cmd(UART2, DISABLE); // disable uart 2 |
| UART_DeInit(UART2); // reset uart 0 to default |
| |
| SCU_APBPeriphClockConfig(__UART2, DISABLE); // disable the UART2 Clock |
| |
| SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
| // unmap UART2 from FC |
| // set port pin 5.2 (serial data from FC) to input and disconnect from IP |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
| 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); |
| |
| SCU_APBPeriphClockConfig(__GPIO3, ENABLE); |
| // set port pin 3.0 (serial data to FC) to input and disconnect from IP |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
| 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); |
| |
| UART1_PutString("ok"); |
| } |
| |
| /********************************************************/ |
| /* UART2 Interrupt Handler */ |
| /********************************************************/ |
| void UART2_IRQHandler(void) |
| { |
| IENABLE; |
| |
| // if receive irq or receive timeout irq has occured |
| if((UART_GetITStatus(UART2, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART2, UART_IT_ReceiveTimeOut) != RESET) ) |
| { |
| UART_ClearITPendingBit(UART2, UART_IT_Receive); // clear receive interrupt flag |
| UART_ClearITPendingBit(UART2, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
| |
| // if debug UART is UART2 |
| if (DebugUART == UART2) |
| { // forward received data to the UART1 tx buffer |
| while(UART_GetFlagStatus(UART2, UART_FLAG_RxFIFOEmpty) != SET) |
| { |
| // wait for space in the tx buffer of the UART1 |
| while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {}; |
| // move the byte from the rx buffer of UART2 to the tx buffer of UART1 |
| UART_SendData(UART1, UART_ReceiveData(UART2)); |
| } |
| } |
| else |
| { |
| // ignore serial data from the FC |
| while(UART_GetFlagStatus(UART2, UART_FLAG_RxFIFOEmpty) != SET) |
| { |
| UART_ReceiveData(UART2); |
| } |
| } |
| } // eof receive irq or receive timeout irq |
| |
| IDISABLE; |
| } |
| |
| /**************************************************************/ |
| /* Transmit tx buffer via uart2 */ |
| /**************************************************************/ |
| void UART2_Transmit(void) |
| { |
| u8 tmp_tx; |
| if(DebugUART == UART2) return; // no data output if debug uart is rederected to UART2 |
| // if something has to be send and the txd fifo is not full |
| if((UART2_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART2, UART_FLAG_TxFIFOFull) == RESET)) |
| { |
| tmp_tx = UART2_tx_buffer.pData[UART2_tx_buffer.Position++]; // read next byte from txd buffer |
| UART_SendData(UART2, tmp_tx); // put character to txd fifo |
| // if terminating character or end of txd buffer reached |
| if((tmp_tx == '\r') || (UART2_tx_buffer.Position == UART2_tx_buffer.Size)) |
| { |
| Buffer_Clear(&UART2_tx_buffer); |
| } |
| } |
| } |
| |
| /**************************************************************/ |
| /* Send the answers to incomming commands at the uart2 */ |
| /**************************************************************/ |
| void UART2_TransmitTxData(void) |
| { |
| if(DebugUART == UART2) return; |
| UART2_Transmit(); // output pending bytes in tx buffer |
| } |
| |
| |
| void UART2_ProcessRxData(void) |
| { |
| |
| } |