| 0,0 → 1,571 |
|---|
| /*#######################################################################################*/ |
| /* !!! 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 <stdio.h> |
| #include <stdarg.h> |
| #include <string.h> |
| #include "91x_lib.h" |
| #include "config.h" |
| #include "main.h" |
| #include "uart0.h" |
| #include "uart1.h" |
| #include "timer1.h" |
| #include "ubx.h" |
| #include "mkprotocol.h" |
| |
| |
| //------------------------------------------------------------------------------------ |
| // global variables |
| |
| MKOSD_VersionInfo_t MKOSD_VersionInfo; |
| |
| // UART0 MUXER |
| UART0_MuxerState_t UART0_Muxer = UART0_UNDEF; |
| u16 Uart0Baudrate = UART0_BAUD_RATE; |
| u16 Uart0MK3MagBaudrate = UART0_BAUD_RATE; |
| |
| // the tx buffer |
| #define UART0_TX_BUFFER_LEN 150 |
| u8 UART0_tbuffer[UART0_TX_BUFFER_LEN]; |
| Buffer_t UART0_tx_buffer; |
| |
| // the rx buffer |
| #define UART0_RX_BUFFER_LEN 150 |
| u8 UART0_rbuffer[UART0_RX_BUFFER_LEN]; |
| Buffer_t UART0_rx_buffer; |
| |
| u8 UART0_Request_VersionInfo = FALSE; |
| u8 UART0_Request_NaviData = FALSE; |
| u8 UART0_Request_ErrorMessage = FALSE; |
| u32 UART0_NaviData_Timer; |
| u32 UART0_NaviData_Interval = 0; // in ms |
| |
| u16 GPS_Version = 0; |
| //------------------------------------------------------------------------------------ |
| // functions |
| |
| /********************************************************/ |
| /* Configure uart 0 */ |
| /********************************************************/ |
| void UART0_Configure(u16 Baudrate) |
| { |
| UART_InitTypeDef UART_InitStructure; |
| |
| SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART0 Clock |
| |
| /* UART0 configured as follow: |
| - Word Length = 8 Bits |
| - One Stop Bit |
| - No parity |
| - BaudRate taken from function argument |
| - 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 = Baudrate; |
| 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(UART0); // reset uart 0 to default |
| UART_Init(UART0, &UART_InitStructure); // initialize uart 0 |
| |
| // enable uart 0 interrupts selective |
| UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut /*| UART_IT_FrameError*/, ENABLE); |
| UART_Cmd(UART0, ENABLE); // enable uart 0 |
| // configure the uart 0 interupt line |
| VIC_Config(UART0_ITLine, VIC_IRQ, PRIORITY_UART0); |
| // enable the uart 0 IRQ |
| VIC_ITCmd(UART0_ITLine, ENABLE); |
| } |
| |
| /********************************************************/ |
| /* Connect RXD & TXD to GPS */ |
| /********************************************************/ |
| void UART0_Connect_to_MKGPS(u16 Baudrate) |
| { |
| GPIO_InitTypeDef GPIO_InitStructure; |
| |
| UART0_Muxer = UART0_UNDEF; |
| |
| SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
| // unmap UART0 from Compass |
| // set port pin 5.1 (serial data from compass) to input and disconnect from IP |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
| 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); |
| // set port pin 5.0 (serial data to compass) to input |
| 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(GPIO5, &GPIO_InitStructure); |
| // map UART0 to GPS |
| // set port pin 6.6 (serial data from gps) to input and connect to IP |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
| GPIO_Init(GPIO6, &GPIO_InitStructure); |
| // set port pin 6.7 (serial data to gps) to output |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
| GPIO_Init(GPIO6, &GPIO_InitStructure); |
| // configure the UART0 |
| UART0_Configure(Baudrate); |
| |
| UART0_Muxer = UART0_MKGPS; |
| } |
| |
| /********************************************************/ |
| /* Connect RXD & TXD to MK3MAG */ |
| /********************************************************/ |
| void UART0_Connect_to_MK3MAG(void) |
| { |
| u16 Baudrate; |
| |
| GPIO_InitTypeDef GPIO_InitStructure; |
| |
| UART0_Muxer = UART0_UNDEF; |
| |
| SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
| // unmap UART0 from GPS |
| // set port pin 6.6 (serial data from gps) to input and disconnect from IP |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = 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(GPIO6, &GPIO_InitStructure); |
| // set port pin 6.7 (serial data to gps) to input |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| GPIO_Init(GPIO6, &GPIO_InitStructure); |
| |
| // map UART0 to Compass |
| // set port pin 5.1 (serial data from compass) to input and connect to IP |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| 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_InputAlt1; //UART0_RxD |
| GPIO_Init(GPIO5, &GPIO_InitStructure); |
| // set port pin 5.0 (serial data to compass) to output |
| 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_IPInputConnected = GPIO_IPInputConnected_Enable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
| GPIO_Init(GPIO5, &GPIO_InitStructure); |
| Baudrate = UART0_BAUD_RATE + ((UART0_BAUD_RATE * 2)/100); // MK3Mag baudrate is a little bit higher... |
| UART0_Configure(Baudrate); |
| UART0_Muxer = UART0_MK3MAG; |
| } |
| |
| /********************************************************/ |
| /* Initialize UART0 */ |
| /********************************************************/ |
| void UART0_Init(void) |
| { |
| UART1_PutString("\r\n UART0 init..."); |
| |
| UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
| |
| // initialize txd buffer |
| Buffer_Init(&UART0_tx_buffer, UART0_tbuffer, UART0_TX_BUFFER_LEN); |
| |
| // initialize rxd buffer |
| Buffer_Init(&UART0_rx_buffer, UART0_rbuffer, UART0_RX_BUFFER_LEN); |
| |
| UART1_PutString("ok"); |
| } |
| |
| /********************************************************/ |
| /* UART0 Interrupt Handler */ |
| /********************************************************/ |
| void UART0_IRQHandler(void) |
| { |
| u8 c; |
| // if receive irq (FIFO is over trigger level) or receive timeout irq (FIFO is not empty for longer times) has occured |
| if((UART_GetITStatus(UART0, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART0, UART_IT_ReceiveTimeOut) != RESET) ) |
| { |
| UART_ClearITPendingBit(UART0, UART_IT_Receive); // clear receive interrupt flag |
| UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
| |
| // if debug UART is UART0 |
| if (DebugUART == UART0) |
| { // forward received data to the UART1 tx buffer |
| while(UART_GetFlagStatus(UART0, 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 UART0 to the tx buffer of UART1 |
| UART_SendData(UART1, UART_ReceiveData(UART0)); |
| } |
| } |
| else // UART0 is not the DebugUART (normal operation) |
| { |
| // repeat until no byte is in the RxFIFO |
| while (UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
| { |
| c = UART_ReceiveData(UART0); // get byte from rx fifo |
| switch(UART0_Muxer) |
| { |
| case UART0_MKGPS: |
| UBX_RxParser(c); // if connected to GPS forward byte to ubx parser |
| // MKProtocol_CollectSerialFrame(&UART0_rx_buffer, c); // ckeck for MK-Frames also |
| break; |
| case UART0_MK3MAG: |
| // ignore any byte send from MK3MAG |
| break; |
| case UART0_UNDEF: |
| default: |
| // ignore the byte from unknown source |
| break; |
| } // eof switch(UART0_Muxer) |
| } // eof while |
| } // eof UART0 is not the DebugUART |
| } // eof receive irq or receive timeout irq |
| |
| VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
| } |
| |
| /**************************************************************/ |
| /* Process incomming data from debug uart */ |
| /**************************************************************/ |
| void UART0_ProcessRxData(void) |
| { |
| SerialMsg_t SerialMsg; |
| // if data in the rxd buffer are not locked immediately return |
| if((UART0_rx_buffer.Locked == FALSE) || (DebugUART == UART0) ) return; |
| |
| MKProtocol_DecodeSerialFrameHeader(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
| MKProtocol_DecodeSerialFrameData(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
| |
| switch(SerialMsg.Address) // check for Slave Address |
| { |
| case MKOSD_ADDRESS: // answers from the MKOSD |
| switch(SerialMsg.CmdID) |
| { |
| case 'V': |
| memcpy(&MKOSD_VersionInfo, SerialMsg.pData, sizeof(MKOSD_VersionInfo)); // copy echo pattern |
| break; |
| default: |
| break; |
| } // case MKOSD_ADDRESS |
| break; |
| |
| case NC_ADDRESS: // own Slave Address |
| switch(SerialMsg.CmdID) |
| { |
| case 'e': // request for the text of the error status |
| UART0_Request_ErrorMessage = TRUE; |
| break; |
| case 'o': // request for navigation information |
| UART0_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
| if(UART0_NaviData_Interval > 0) UART0_Request_NaviData = TRUE; |
| break; |
| default: |
| 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 'v': // request for version info |
| UART0_Request_VersionInfo = TRUE; |
| break; |
| default: |
| // unsupported command recieved |
| break; |
| } |
| break; // default: |
| } |
| Buffer_Clear(&UART0_rx_buffer); |
| } |
| |
| /**************************************************************/ |
| /* Transmit tx buffer via uart0 */ |
| /**************************************************************/ |
| void UART0_Transmit(void) |
| { |
| u8 tmp_tx; |
| |
| if(DebugUART == UART0) return; // no data output if debug uart is rederected to UART0 |
| // if something has to be send and the txd fifo is not full |
| if((UART0_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART0, UART_FLAG_TxFIFOFull) == RESET)) |
| { |
| tmp_tx = UART0_tx_buffer.pData[UART0_tx_buffer.Position++]; // read next byte from txd buffer |
| UART_SendData(UART0, tmp_tx); // put character to txd fifo |
| // if terminating character or end of txd buffer reached |
| // if((tmp_tx == '\r') || (UART0_tx_buffer.Position == UART0_tx_buffer.Size)) |
| if((UART0_tx_buffer.Position == UART0_tx_buffer.DataBytes) || (UART0_tx_buffer.Position == UART0_tx_buffer.Size)) |
| { |
| Buffer_Clear(&UART0_tx_buffer); |
| } |
| } |
| } |
| |
| |
| /**************************************************************/ |
| /* Send the answers to incomming commands at the uart0 */ |
| /**************************************************************/ |
| void UART0_TransmitTxData(void) |
| { |
| if(DebugUART == UART0) return; |
| UART0_Transmit(); // output pending bytes in tx buffer |
| if(UART0_tx_buffer.Locked == TRUE) return; |
| |
| else if(UART0_Request_ErrorMessage && (UART0_tx_buffer.Locked == FALSE)) |
| { |
| MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
| UART0_Request_ErrorMessage = FALSE; |
| } |
| else if(UART0_Request_VersionInfo && (UART0_tx_buffer.Locked == FALSE)) |
| { |
| MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
| UART0_Request_VersionInfo = FALSE; |
| } |
| else if(( ((UART0_NaviData_Interval >0) && CheckDelay(UART0_NaviData_Timer) ) || UART0_Request_NaviData) && (UART0_tx_buffer.Locked == FALSE)) |
| { |
| NaviData.Errorcode = ErrorCode; |
| MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
| UART0_NaviData_Timer = SetDelay(UART0_NaviData_Interval); |
| UART0_Request_NaviData = FALSE; |
| } |
| UART0_Transmit(); // output pending bytes in tx buffer |
| } |
| |
| |
| /**************************************************************/ |
| /* Get the version of the MKOSD */ |
| /**************************************************************/ |
| u8 UART0_GetMKOSDVersion(void) |
| { |
| u32 timeout; |
| u8 msg[64]; |
| u8 retval = 0; |
| |
| MKOSD_VersionInfo.SWMajor = 0xFF; |
| MKOSD_VersionInfo.SWMinor = 0xFF; |
| MKOSD_VersionInfo.SWPatch = 0xFF; |
| |
| if(UART0_Muxer != UART0_MKGPS) UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
| while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
| |
| MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'v', MKOSD_ADDRESS, 0); // request for version info |
| while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
| |
| timeout = SetDelay(500); |
| do |
| { |
| UART0_ProcessRxData(); |
| if(MKOSD_VersionInfo.SWMajor != 0xFF) break; |
| }while(!CheckDelay(timeout)); |
| |
| if(MKOSD_VersionInfo.SWMajor != 0xFF) |
| { |
| sprintf(msg, "\r\n MK-OSD V%d.%d%c", MKOSD_VersionInfo.SWMajor, MKOSD_VersionInfo.SWMinor, 'a'+MKOSD_VersionInfo.SWPatch); |
| UART1_PutString(msg); |
| retval = 1; |
| } |
| //else UART1_PutString("\n\r No version information from MK-OSD."); |
| return(retval); |
| } |
| |
| /**************************************************************/ |
| /* Send a message to the UBLOX device */ |
| /**************************************************************/ |
| u8 UART0_UBXSendMsg(u8* pData, u16 Len) |
| { |
| u8 retval = 0; |
| // check for connection to GPS |
| if(UART0_Muxer != UART0_MKGPS) return(retval); |
| while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
| UBX_CreateMsg(&UART0_tx_buffer, pData, Len); // build ubx message frame |
| while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
| return(1); |
| } |
| |
| /**************************************************************/ |
| /* Send a configuration message to the UBLOX device */ |
| /**************************************************************/ |
| u8 UART0_UBXSendCFGMsg(u8* pData, u16 Len) |
| { |
| u32 timeout; |
| u8 retval = 0; |
| // if data are not a CFG MSG |
| if(pData[0]!= UBX_CLASS_CFG) return(retval); |
| // prepare rx msg filter |
| UbxMsg.Hdr.Class = UBX_CLASS_ACK; |
| UbxMsg.Hdr.Id = 0xFF; |
| UbxMsg.Hdr.Length = 0; |
| UbxMsg.ClassMask = 0xFF; |
| UbxMsg.IdMask = 0x00; |
| UbxMsg.Status = INVALID; |
| UART0_UBXSendMsg(pData, Len); |
| // check for acknowledge msg |
| timeout = SetDelay(100); |
| do |
| { |
| if(UbxMsg.Status == NEWDATA) break; |
| }while(!CheckDelay(timeout)); |
| if(UbxMsg.Status == NEWDATA) |
| { // 2 bytes payload |
| if((UbxMsg.Data[0] == pData[0]) && (UbxMsg.Data[1] == pData[1]) && (UbxMsg.Hdr.Length == 2)) retval = UbxMsg.Hdr.Id; |
| } |
| UbxMsg.Status = INVALID; |
| return(retval); |
| } |
| |
| /**************************************************************/ |
| /* Get Version Info from UBX Module */ |
| /**************************************************************/ |
| u8 UART0_GetUBXVersion(void) |
| { |
| u32 timeout; |
| u8 msg[220]; |
| u8 retval = 0xFF; |
| u8 ubxmsg[]={0x0A, 0x04, 0x00, 0x00}; //MON-VER |
| // prepare rx msg filter |
| UbxMsg.Hdr.Class = 0x0A; |
| UbxMsg.Hdr.Id = 0x04; |
| UbxMsg.Hdr.Length = 0; |
| UbxMsg.ClassMask = 0xFF; |
| UbxMsg.IdMask = 0xFF; |
| UbxMsg.Status = INVALID; |
| UART0_UBXSendMsg(ubxmsg, sizeof(ubxmsg)); |
| // check for answer |
| timeout = SetDelay(100); |
| do |
| { |
| if(UbxMsg.Status == NEWDATA) break; |
| }while(!CheckDelay(timeout)); |
| if((UbxMsg.Hdr.Length >= 40) && (UbxMsg.Status == NEWDATA)) |
| { |
| retval = UbxVersionParser(); |
| if(retval != 0xff) |
| { |
| /* |
| unsigned int i; |
| for(i=0;i< sizeof(UbxMsg.Data);i++) |
| { |
| if(UbxMsg.Data[i] == 0) UbxMsg.Data[i] = '°'; |
| } |
| //UbxMsg.Data[30] = 0; |
| UbxMsg.Data[sizeof(UbxMsg.Data)-1] = 0; |
| // UbxMsg.Data[4] = 0; //Only the first 4 characters |
| */ |
| |
| sprintf(msg, " V%d.%d (%d) SW:%s", retval/10,retval%10, GPS_Version, (u8*)&UbxMsg.Data[0]); |
| UART1_PutString(msg); |
| sprintf(msg, "|%s|%s",(u8*)&UbxMsg.Data[40],(u8*)&UbxMsg.Data[40+30]); |
| UART1_PutString(msg); |
| |
| if(UbxMsg.Data[40+60]) |
| { |
| sprintf(msg, "\n\r %s|%s|%s",(u8*)&UbxMsg.Data[40+60],(u8*)&UbxMsg.Data[40+90],(u8*)&UbxMsg.Data[40+120]); |
| UART1_PutString(msg); |
| } |
| } |
| else UART1_PutString(" ! -> UNKNOWN <- ! "); |
| } |
| UbxMsg.Status = INVALID; |
| return(retval); |
| } |
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