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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 <string.h> |
| #include "91x_lib.h" |
| #include "config.h" |
| #include "main.h" |
| #include "uart1.h" |
| #include "mkprotocol.h" |
| #include "waypoints.h" |
| #include "gps.h" |
| #include "timer1.h" |
| #include "uart0.h" |
| #include "uart1.h" |
| #include "uart2.h" |
| #include "menu.h" |
| #include "usb.h" |
| |
| #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
| u32 USB_AboTimeOut = 0; |
| |
| u16 Echo; // 2 bytes recieved will be sent back as echo |
| |
| // the primary rx fifo |
| #define USB_RX_FIFO_LEN 512 |
| u8 USB_rxfifobuffer[USB_RX_FIFO_LEN]; |
| fifo_t USB_rx_fifo; |
| |
| // the tx buffer |
| #define USB_TX_BUFFER_LEN 150 |
| u8 USB_tbuffer[USB_TX_BUFFER_LEN]; |
| Buffer_t USB_tx_buffer; |
| |
| // the rx buffer |
| #define USB_RX_BUFFER_LEN 150 |
| u8 USB_rbuffer[USB_RX_BUFFER_LEN]; |
| Buffer_t USB_rx_buffer; |
| |
| u8 USB_Request_VersionInfo = FALSE; |
| u8 USB_Request_SendFollowMe = FALSE; |
| u8 USB_Request_ExternalControl= FALSE; |
| u8 USB_Request_Display = FALSE; |
| u8 USB_Request_Display1 = FALSE; |
| u8 USB_Request_DebugData = FALSE; |
| u8 USB_Request_DebugLabel = 255; |
| u8 USB_Request_NaviData = FALSE; |
| u8 USB_Request_ErrorMessage = FALSE; |
| u8 USB_Request_Data3D = FALSE; |
| u8 USB_Request_Echo = FALSE; |
| u8 USB_DisplayKeys = 0; |
| u8 USB_DisplayLine = 0; |
| u8 USB_ConfirmFrame = 0; |
| |
| u32 USB_DebugData_Timer = 0; |
| u32 USB_DebugData_Interval = 0; // in ms |
| u32 USB_NaviData_Timer = 0; |
| u32 USB_NaviData_Interval = 0; // in ms |
| u32 USB_Data3D_Timer = 0; |
| u32 USB_Data3D_Interval = 0; // in ms |
| u32 USB_Display_Timer = 0; |
| u32 USB_Display_Interval = 0; // in ms |
| |
| //----------------------------------------------------------------- |
| void USB_ConfigInit(void) |
| { |
| GPIO_InitTypeDef GPIO_InitStructure; |
| |
| UART1_PutString("\r\n USB init..."); |
| #ifdef MCLK96MHZ |
| //USB clock = MCLK/2 = 48MHz |
| SCU_USBCLKConfig(SCU_USBCLK_MCLK2); |
| #else |
| //USB clock = MCLK = 48MHz |
| SCU_USBCLKConfig(SCU_USBCLK_MCLK); |
| #endif |
| //Enable USB clock |
| SCU_AHBPeriphClockConfig(__USB,ENABLE); |
| SCU_AHBPeriphReset(__USB,DISABLE); |
| SCU_AHBPeriphClockConfig(__USB48M,ENABLE); |
| |
| //Configure GPIO0 (D+ Pull-Up on P0.1) |
| SCU_APBPeriphClockConfig(__GPIO0 ,ENABLE); |
| SCU_APBPeriphReset(__GPIO0,DISABLE); |
| |
| // GPIO_DeInit(P0.1); |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| GPIO_InitStructure.GPIO_Alternate=GPIO_OutputAlt1; |
| GPIO_Init (GPIO0, &GPIO_InitStructure); |
| |
| // initialize the rx fifo, block UART IRQ geting a byte from fifo |
| fifo_init(&USB_rx_fifo, USB_rxfifobuffer, USB_RX_FIFO_LEN, NO_ITLine, USBLP_ITLine); |
| |
| // initialize txd buffer |
| Buffer_Init(&USB_tx_buffer, USB_tbuffer, USB_TX_BUFFER_LEN); |
| |
| // initialize rxd buffer |
| Buffer_Init(&USB_rx_buffer, USB_rbuffer, USB_RX_BUFFER_LEN); |
| |
| VIC_Config(USBLP_ITLine, VIC_IRQ, PRIORITY_USB); |
| VIC_ITCmd(USBLP_ITLine, ENABLE); |
| |
| USB_Init(); |
| |
| UART1_PutString("ok"); |
| } |
| |
| |
| /**************************************************************/ |
| /* Process incomming data from debug uart */ |
| /**************************************************************/ |
| void USB_ProcessRxData(void) |
| { |
| u8 c; |
| SerialMsg_t SerialMsg; |
| |
| // if data in the rxd buffer are not locked immediately return |
| // if rx buffer is not locked |
| if(USB_rx_buffer.Locked == FALSE) |
| { |
| //collect data from primary rx fifo |
| while(fifo_get(&USB_rx_fifo, &c)) |
| { |
| // break if complete frame has been collected |
| if(MKProtocol_CollectSerialFrame(&USB_rx_buffer, c)) break; |
| } |
| } |
| if(USB_rx_buffer.Locked == FALSE) return; |
| |
| MKProtocol_DecodeSerialFrameHeader(&USB_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
| MKProtocol_DecodeSerialFrameData(&USB_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
| |
| if(SerialMsg.CmdID != 'z') SerialLinkOkay = 250; // reset SerialTimeout, but not in case of the "ping" |
| switch(SerialMsg.Address) // check for Slave Address |
| { |
| case NC_ADDRESS: // own Slave Address |
| switch(SerialMsg.CmdID) |
| { |
| case 'z': // connection checker |
| memcpy(&Echo, SerialMsg.pData, sizeof(Echo)); // copy echo pattern |
| USB_Request_Echo = TRUE; |
| break; |
| |
| case 'e': // request for the text of the error status |
| USB_Request_ErrorMessage = TRUE; |
| break; |
| |
| default: |
| // unsupported command recieved |
| break; |
| } // case NC_ADDRESS |
| // "break;" is missing here to fall thru to the common commands |
| |
| default: // and any other Slave Address |
| |
| switch(SerialMsg.CmdID) // check CmdID |
| { |
| case 'a':// request for the labels of the analog debug outputs |
| USB_Request_DebugLabel = SerialMsg.pData[0]; |
| if(USB_Request_DebugLabel > 31) USB_Request_DebugLabel = 31; |
| break; |
| /* |
| case 'b': // submit extern control |
| memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl)); |
| USB_ConfirmFrame = ExternControl.Frame; |
| break; |
| */ |
| case 'd': // request for debug data; |
| USB_DebugData_Interval = (u32) SerialMsg.pData[0] * 10; |
| if(USB_DebugData_Interval > 0) USB_Request_DebugData = TRUE; |
| USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
| break; |
| |
| case 'c': // request for 3D data; |
| USB_Data3D_Interval = (u32) SerialMsg.pData[0] * 10; |
| if(USB_Data3D_Interval > 0) USB_Request_Data3D = TRUE; |
| USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
| break; |
| |
| case 'h':// reqest for display line |
| if((SerialMsg.pData[0]& 0x80) == 0x00)// old format |
| { |
| USB_DisplayLine = 2; |
| USB_Display_Interval = 0; |
| } |
| else |
| { |
| USB_DisplayKeys |= ~SerialMsg.pData[0]; |
| USB_Display_Interval = (u32) SerialMsg.pData[1] * 10; |
| USB_DisplayLine = 4; |
| USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
| } |
| USB_Request_Display = TRUE; |
| break; |
| |
| case 'l':// reqest for display columns |
| MenuItem = SerialMsg.pData[0]; |
| USB_Request_Display1 = TRUE; |
| break; |
| |
| case 'o': // request for navigation information |
| USB_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
| if(USB_NaviData_Interval > 0) USB_Request_NaviData = TRUE; |
| USB_AboTimeOut = SetDelay(ABO_TIMEOUT); |
| break; |
| |
| case 'v': // request for version info |
| USB_Request_VersionInfo = TRUE; |
| break; |
| default: |
| // unsupported command recieved |
| break; |
| } |
| break; // default: |
| } |
| Buffer_Clear(&USB_rx_buffer); |
| } |
| |
| |
| //----------------------------------------------------------------- |
| void USB_CableConfig(FunctionalState NewState) |
| { |
| if (NewState == ENABLE) |
| GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_RESET); |
| else |
| GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_SET); |
| } |
| //----------------------------------------------------------------- |
| void USB_EnterLowPowerMode(void) |
| { |
| /* Set the device state to suspend */ |
| bDeviceState = SUSPENDED; |
| } |
| //----------------------------------------------------------------- |
| void USB_LeaveLowPowerMode(void) |
| { |
| DEVICE_INFO *pInfo = &Device_Info; |
| |
| /* Set the device state to the correct state */ |
| if (pInfo->Current_Configuration != 0) |
| { |
| /* Device configured */ |
| bDeviceState = CONFIGURED; |
| } |
| else |
| { |
| bDeviceState = ATTACHED; |
| } |
| } |
| |
| |
| //----------------------------------------------------------------- |
| void USB_PutString(u8 *string) |
| { |
| u8 i = 0; |
| u16 timeout = 0; |
| |
| while (string[i++] != 0){} // get string len |
| while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
| UserToPMABufferCopy(string, ENDP1_TXADDR, ++i); // copy string to usb buffer |
| SetEPTxCount(ENDP1,i); |
| SetEPTxValid(ENDP1); |
| } |
| |
| //----------------------------------------------------------------- |
| void USB_PutChar(u8 c) |
| { |
| u16 timeout = 0; |
| while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
| UserToPMABufferCopy(&c, ENDP1_TXADDR, 2); |
| SetEPTxCount(ENDP1,2); |
| SetEPTxValid(ENDP1); |
| } |
| |
| //----------------------------------------------------------------- |
| void USB_SendData(u8 *pdata, u16 count) |
| { |
| u8 i; |
| count++; |
| u16 timeout = 0; |
| |
| for (i=0;i< (count/64)+1;i++) |
| { |
| while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){if (timeout++ > 60000) return;} |
| if (i < (count/64)) |
| { |
| UserToPMABufferCopy(&pdata[i*64], ENDP1_TXADDR, 64); |
| SetEPTxCount(ENDP1,64); |
| } |
| else |
| { |
| UserToPMABufferCopy(&pdata[i*64], ENDP1_TXADDR, count % 64); |
| SetEPTxCount(ENDP1, count % 64); |
| } |
| SetEPTxValid(ENDP1); |
| } |
| } |
| |
| /**************************************************************/ |
| /* Transmit tx buffer via usb */ |
| /**************************************************************/ |
| void USB_Transmit(void) |
| { // nur blockweises kopieren des sendebuffers, nicht alles mit einem mal |
| // if something has to be send and the txd fifo is not full |
| |
| if(USB_tx_buffer.Locked == TRUE) |
| { |
| if(_GetEPTxStatus(ENDP1) == EP_TX_NAK) |
| { |
| u16 i; |
| if(USB_tx_buffer.Position < USB_tx_buffer.DataBytes) |
| { |
| i = USB_tx_buffer.DataBytes - USB_tx_buffer.Position; // bytes to send |
| if(i > 64) i = 64; // limit packet size to 64 bytes |
| UserToPMABufferCopy(&(USB_tx_buffer.pData[USB_tx_buffer.Position]), ENDP1_TXADDR, i); |
| SetEPTxCount(ENDP1,i); |
| SetEPTxValid(ENDP1); |
| USB_tx_buffer.Position += i; |
| } |
| } |
| if(USB_tx_buffer.Position >= USB_tx_buffer.DataBytes) // all bytes transfered |
| { |
| Buffer_Clear(&USB_tx_buffer); // clear buffer |
| } |
| } |
| } |
| |
| /**************************************************************/ |
| /* Send the answers to incomming commands at the debug uart */ |
| /**************************************************************/ |
| void USB_TransmitTxData(void) |
| { |
| USB_Transmit(); // output pending bytes in tx buffer |
| if((USB_tx_buffer.Locked == TRUE)) return; |
| |
| if(CheckDelay(USB_AboTimeOut)) |
| { |
| USB_DebugData_Interval = 0; |
| USB_NaviData_Interval = 0; |
| USB_Data3D_Interval = 0; |
| USB_Display_Interval = 0; |
| } |
| |
| if((USB_Request_DebugLabel != 0xFF) && (USB_tx_buffer.Locked == FALSE)) |
| { |
| MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'A', NC_ADDRESS, 2, &USB_Request_DebugLabel, sizeof(USB_Request_DebugLabel), (u8 *) ANALOG_LABEL[USB_Request_DebugLabel], 16); |
| USB_Request_DebugLabel = 0xFF; |
| } |
| else if(USB_ConfirmFrame && (USB_tx_buffer.Locked == FALSE)) |
| { |
| MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'B', NC_ADDRESS, 1, &USB_ConfirmFrame, sizeof(USB_ConfirmFrame)); |
| USB_ConfirmFrame = 0; |
| } |
| else if( (( (USB_DebugData_Interval > 0) && CheckDelay(USB_DebugData_Timer)) || USB_Request_DebugData) && (USB_tx_buffer.Locked == FALSE)) |
| { |
| MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
| USB_DebugData_Timer = SetDelay(USB_DebugData_Interval); |
| USB_Request_DebugData = FALSE; |
| } |
| else if((( (USB_Data3D_Interval > 0) && CheckDelay(USB_Data3D_Timer) ) || USB_Request_Data3D) && (USB_tx_buffer.Locked == FALSE)) |
| { |
| MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'C', NC_ADDRESS, 1,(u8 *)&Data3D, sizeof(Data3D)); |
| USB_Data3D_Timer = SetDelay(USB_Data3D_Interval); |
| USB_Request_Data3D = FALSE; |
| } |
| else if(USB_Request_ExternalControl && (USB_tx_buffer.Locked == FALSE)) |
| { |
| MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
| USB_Request_ExternalControl = FALSE; |
| } |
| else if( (( (USB_Display_Interval > 0) && CheckDelay(USB_Display_Timer)) || USB_Request_Display) && (USB_tx_buffer.Locked == FALSE)) |
| { |
| Menu_Update(USB_DisplayKeys); |
| USB_DisplayKeys = 0; |
| MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'H', NC_ADDRESS, 1, (u8*)DisplayBuff, sizeof(DisplayBuff)); |
| USB_Request_Display = FALSE; |
| } |
| else if(USB_Request_Display1 && (USB_tx_buffer.Locked == FALSE)) |
| { |
| Menu_Update(0); |
| MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
| USB_Request_Display1 = FALSE; |
| } |
| else if(USB_Request_VersionInfo && (USB_tx_buffer.Locked == FALSE)) |
| { |
| MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
| USB_Request_VersionInfo = FALSE; |
| } |
| else if(( (USB_NaviData_Interval && CheckDelay(USB_NaviData_Timer) ) || USB_Request_NaviData) && (USB_tx_buffer.Locked == FALSE)) |
| { |
| NaviData.Errorcode = ErrorCode; |
| MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
| USB_NaviData_Timer = SetDelay(USB_NaviData_Interval); |
| USB_Request_NaviData = FALSE; |
| } |
| else if(USB_Request_ErrorMessage && (USB_tx_buffer.Locked == FALSE)) |
| { |
| MKProtocol_CreateSerialFrame(&USB_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
| USB_Request_ErrorMessage = FALSE; |
| } |
| USB_Transmit(); // output pending bytes in tx buffer |
| } |