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| /*#######################################################################################*/ |
| /* !!! 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" |
| #include "main.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 |
| //________________________________________________________________________________________________________________________________________ |
| |
| |
| u16 SPI_Speed = 2000; |
| //________________________________________________________________________________________________________________________________________ |
| // 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_Speed(u32 speed) |
| { |
| SSP_InitTypeDef SSP_InitStructure; |
| |
| SPI_Speed = speed; |
| |
| SSP_Cmd(SSP1, DISABLE); |
| 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 = BRCLK we get for the SPICLK = 48Mhz / 20 / (1+5) = 400 kHz |
| SSP_InitStructure.SSP_ClockRate = 5; //5 |
| SSP_InitStructure.SSP_ClockPrescaler = (48000 / (5+1)) / speed; |
| SSP_Init(SSP1, &SSP_InitStructure); |
| SSP_Cmd(SSP1, ENABLE); |
| } |
| |
| |
| void SSC_Init(void) |
| { |
| GPIO_InitTypeDef GPIO_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 |
| SSC_Speed(400); |
| 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); |
| } |
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