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| Rev 196 | Rev 245 | ||
|---|---|---|---|
| Line 76... | Line 76... | ||
| 76 | UART0_MuxerState_t UART0_Muxer = UART0_UNDEF; |
76 | UART0_MuxerState_t UART0_Muxer = UART0_UNDEF; |
| 77 | u16 Uart0Baudrate = UART0_BAUD_RATE; |
77 | u16 Uart0Baudrate = UART0_BAUD_RATE; |
| 78 | u16 Uart0MK3MagBaudrate = UART0_BAUD_RATE; |
78 | u16 Uart0MK3MagBaudrate = UART0_BAUD_RATE; |
| Line 79... | Line 79... | ||
| 79 | 79 | ||
| 80 | // the tx buffer |
80 | // the tx buffer |
| 81 | #define UART0_TX_BUFFER_LEN 150 |
81 | #define UART0_TX_BUFFER_LEN 200 |
| 82 | u8 UART0_tbuffer[UART0_TX_BUFFER_LEN]; |
82 | u8 UART0_tbuffer[UART0_TX_BUFFER_LEN]; |
| Line 83... | Line 83... | ||
| 83 | Buffer_t UART0_tx_buffer; |
83 | Buffer_t UART0_tx_buffer; |
| 84 | 84 | ||
| 85 | // the rx buffer |
85 | // the rx buffer |
| 86 | #define UART0_RX_BUFFER_LEN 150 |
86 | #define UART0_RX_BUFFER_LEN 200 |
| Line 87... | Line 87... | ||
| 87 | u8 UART0_rbuffer[UART0_RX_BUFFER_LEN]; |
87 | u8 UART0_rbuffer[UART0_RX_BUFFER_LEN]; |
| 88 | Buffer_t UART0_rx_buffer; |
88 | Buffer_t UART0_rx_buffer; |
| Line 95... | Line 95... | ||
| 95 | 95 | ||
| 96 | //------------------------------------------------------------------------------------ |
96 | //------------------------------------------------------------------------------------ |
| Line 97... | Line 97... | ||
| 97 | // functions |
97 | // functions |
| - | 98 | ||
| - | 99 | /********************************************************/ |
|
| - | 100 | /* Configure uart 0 */ |
|
| - | 101 | /********************************************************/ |
|
| - | 102 | void UART0_Configure(u16 Baudrate) |
|
| - | 103 | { |
|
| - | 104 | UART_InitTypeDef UART_InitStructure; |
|
| - | 105 | ||
| - | 106 | SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART0 Clock |
|
| - | 107 | ||
| - | 108 | /* UART0 configured as follow: |
|
| - | 109 | - Word Length = 8 Bits |
|
| - | 110 | - One Stop Bit |
|
| - | 111 | - No parity |
|
| - | 112 | - BaudRate taken from function argument |
|
| - | 113 | - Hardware flow control Disabled |
|
| - | 114 | - Receive and transmit enabled |
|
| - | 115 | - Receive and transmit FIFOs are Disabled |
|
| - | 116 | */ |
|
| - | 117 | UART_StructInit(&UART_InitStructure); |
|
| - | 118 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
|
| - | 119 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
|
| - | 120 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
|
| - | 121 | UART_InitStructure.UART_BaudRate = Baudrate; |
|
| - | 122 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
|
| - | 123 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
|
| - | 124 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
|
| - | 125 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
|
| - | 126 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
|
| - | 127 | ||
| - | 128 | UART_DeInit(UART0); // reset uart 0 to default |
|
| - | 129 | UART_Init(UART0, &UART_InitStructure); // initialize uart 0 |
|
| - | 130 | ||
| - | 131 | // enable uart 0 interrupts selective |
|
| - | 132 | UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut /*| UART_IT_FrameError*/, ENABLE); |
|
| - | 133 | UART_Cmd(UART0, ENABLE); // enable uart 0 |
|
| - | 134 | // configure the uart 0 interupt line |
|
| - | 135 | VIC_Config(UART0_ITLine, VIC_IRQ, PRIORITY_UART0); |
|
| - | 136 | // enable the uart 0 IRQ |
|
| - | 137 | VIC_ITCmd(UART0_ITLine, ENABLE); |
|
| - | 138 | } |
|
| 98 | 139 | ||
| 99 | /********************************************************/ |
140 | /********************************************************/ |
| 100 | /* Connect RXD & TXD to GPS */ |
141 | /* Connect RXD & TXD to GPS */ |
| 101 | /********************************************************/ |
142 | /********************************************************/ |
| 102 | void UART0_Connect_to_MKGPS(void) |
143 | void UART0_Connect_to_MKGPS(u16 Baudrate) |
| Line 103... | Line 144... | ||
| 103 | { |
144 | { |
| Line 138... | Line 179... | ||
| 138 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
179 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
| 139 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
180 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| 140 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
181 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 141 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
182 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
| 142 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
183 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
| - | 184 | // configure the UART0 |
|
| - | 185 | UART0_Configure(Baudrate); |
|
| Line 143... | Line 186... | ||
| 143 | 186 | ||
| 144 | UART0_Muxer = UART0_MKGPS; |
187 | UART0_Muxer = UART0_MKGPS; |
| Line 145... | Line 188... | ||
| 145 | } |
188 | } |
| 146 | 189 | ||
| 147 | /********************************************************/ |
190 | /********************************************************/ |
| 148 | /* Connect RXD & TXD to MK3MAG */ |
191 | /* Connect RXD & TXD to MK3MAG */ |
| 149 | /********************************************************/ |
192 | /********************************************************/ |
| - | 193 | void UART0_Connect_to_MK3MAG(void) |
|
| - | 194 | { |
|
| 150 | void UART0_Connect_to_MK3MAG(void) |
195 | u16 Baudrate; |
| Line 151... | Line 196... | ||
| 151 | { |
196 | |
| Line 152... | Line 197... | ||
| 152 | GPIO_InitTypeDef GPIO_InitStructure; |
197 | GPIO_InitTypeDef GPIO_InitStructure; |
| Line 187... | Line 232... | ||
| 187 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
232 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
| 188 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
233 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| 189 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
234 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 190 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
235 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
| 191 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
236 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
| 192 | - | ||
| - | 237 | Baudrate = UART0_BAUD_RATE + ((UART0_BAUD_RATE * 2)/100); // MK3Mag baudrate is a little bit higher... |
|
| - | 238 | UART0_Configure(Baudrate); |
|
| 193 | UART0_Muxer = UART0_MK3MAG; |
239 | UART0_Muxer = UART0_MK3MAG; |
| 194 | } |
240 | } |
| Line 195... | Line 241... | ||
| 195 | 241 | ||
| 196 | /********************************************************/ |
242 | /********************************************************/ |
| 197 | /* Initialize UART0 */ |
243 | /* Initialize UART0 */ |
| 198 | /********************************************************/ |
244 | /********************************************************/ |
| 199 | void UART0_Init(void) |
245 | void UART0_Init(void) |
| 200 | { |
- | |
| 201 | UART_InitTypeDef UART_InitStructure; |
- | |
| 202 | 246 | { |
|
| Line 203... | Line -... | ||
| 203 | UART1_PutString("\r\n UART0 init..."); |
- | |
| 204 | - | ||
| 205 | SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART0 Clock |
- | |
| 206 | - | ||
| 207 | Uart0Baudrate = UART0_BAUD_RATE + ((UART0_BAUD_RATE * 2)/100); // MK3Mag baudrate is a litlle bit higher... |
- | |
| 208 | - | ||
| 209 | /* UART0 configured as follow: |
- | |
| 210 | - Word Length = 8 Bits |
- | |
| 211 | - One Stop Bit |
- | |
| 212 | - No parity |
- | |
| 213 | - BaudRate = 57600 baud |
- | |
| 214 | - Hardware flow control Disabled |
- | |
| 215 | - Receive and transmit enabled |
- | |
| 216 | - Receive and transmit FIFOs are Disabled |
- | |
| 217 | */ |
- | |
| 218 | UART_StructInit(&UART_InitStructure); |
- | |
| 219 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
- | |
| 220 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
- | |
| 221 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
- | |
| 222 | UART_InitStructure.UART_BaudRate = Uart0Baudrate; |
- | |
| 223 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
- | |
| 224 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
- | |
| 225 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
- | |
| 226 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
- | |
| 227 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
- | |
| 228 | - | ||
| 229 | UART_DeInit(UART0); // reset uart 0 to default |
- | |
| 230 | UART_Init(UART0, &UART_InitStructure); // initialize uart 0 |
- | |
| 231 | - | ||
| 232 | // enable uart 0 interrupts selective |
- | |
| 233 | UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut /*| UART_IT_FrameError*/, ENABLE); |
- | |
| 234 | UART_Cmd(UART0, ENABLE); // enable uart 0 |
- | |
| 235 | // configure the uart 0 interupt line |
- | |
| 236 | VIC_Config(UART0_ITLine, VIC_IRQ, PRIORITY_UART0); |
- | |
| 237 | // enable the uart 0 IRQ |
247 | UART1_PutString("\r\n UART0 init..."); |
| Line 238... | Line 248... | ||
| 238 | VIC_ITCmd(UART0_ITLine, ENABLE); |
248 | |
| 239 | UART0_Connect_to_MKGPS(); |
249 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
| Line 240... | Line 250... | ||
| 240 | 250 | ||
| Line 277... | Line 287... | ||
| 277 | { |
287 | { |
| 278 | c = UART_ReceiveData(UART0); // get byte from rx fifo |
288 | c = UART_ReceiveData(UART0); // get byte from rx fifo |
| 279 | switch(UART0_Muxer) |
289 | switch(UART0_Muxer) |
| 280 | { |
290 | { |
| 281 | case UART0_MKGPS: |
291 | case UART0_MKGPS: |
| 282 | UBX_Parser(c); // if connected to GPS forward byte to ubx parser |
292 | UBX_RxParser(c); // if connected to GPS forward byte to ubx parser |
| 283 | MKProtocol_CollectSerialFrame(&UART0_rx_buffer, c); // ckeck for MK-Frames also |
293 | MKProtocol_CollectSerialFrame(&UART0_rx_buffer, c); // ckeck for MK-Frames also |
| 284 | break; |
294 | break; |
| 285 | case UART0_MK3MAG: |
295 | case UART0_MK3MAG: |
| 286 | // ignore any byte send from MK3MAG |
296 | // ignore any byte send from MK3MAG |
| 287 | break; |
297 | break; |
| Line 416... | Line 426... | ||
| 416 | 426 | ||
| 417 | MKOSD_VersionInfo.SWMajor = 0xFF; |
427 | MKOSD_VersionInfo.SWMajor = 0xFF; |
| 418 | MKOSD_VersionInfo.SWMinor = 0xFF; |
428 | MKOSD_VersionInfo.SWMinor = 0xFF; |
| Line 419... | Line 429... | ||
| 419 | MKOSD_VersionInfo.SWPatch = 0xFF; |
429 | MKOSD_VersionInfo.SWPatch = 0xFF; |
| 420 | 430 | ||
| Line 421... | Line 431... | ||
| 421 | if(UART0_Muxer != UART0_MKGPS) UART0_Connect_to_MKGPS(); |
431 | if(UART0_Muxer != UART0_MKGPS) UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
| 422 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
432 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
| Line 436... | Line 446... | ||
| 436 | sprintf(msg, "\n\r MK-OSD V%d.%d%c", MKOSD_VersionInfo.SWMajor, MKOSD_VersionInfo.SWMinor, 'a'+MKOSD_VersionInfo.SWPatch); |
446 | sprintf(msg, "\n\r MK-OSD V%d.%d%c", MKOSD_VersionInfo.SWMajor, MKOSD_VersionInfo.SWMinor, 'a'+MKOSD_VersionInfo.SWPatch); |
| 437 | UART1_PutString(msg); |
447 | UART1_PutString(msg); |
| 438 | } |
448 | } |
| 439 | //else UART1_PutString("\n\r No version information from MK-OSD."); |
449 | //else UART1_PutString("\n\r No version information from MK-OSD."); |
| 440 | } |
450 | } |
| - | 451 | ||
| - | 452 | ||
| - | 453 | /**************************************************************/ |
|
| - | 454 | /* Send a configuration message to the UBLOX device */ |
|
| - | 455 | /**************************************************************/ |
|
| - | 456 | u8 UART0_UBXSendCFGMsg(u8 Id, u8* pData, u16 Len) |
|
| - | 457 | { |
|
| - | 458 | u32 timeout; |
|
| - | 459 | u8 retval = 0; |
|
| - | 460 | // check for connection to GPS |
|
| - | 461 | if(UART0_Muxer != UART0_MKGPS) return(retval); |
|
| - | 462 | // free the acknowledge buffer |
|
| - | 463 | UbxAck.Status = INVALID; |
|
| - | 464 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
|
| - | 465 | UBX_CreateMsg(&UART0_tx_buffer, UBX_CLASS_CFG, Id, pData, Len); // build ubx message frame |
|
| - | 466 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
|
| - | 467 | // check for acknowledge |
|
| - | 468 | timeout = SetDelay(500); |
|
| - | 469 | do |
|
| - | 470 | { |
|
| - | 471 | if(UbxAck.Status == NEWDATA) break; |
|
| - | 472 | }while(!CheckDelay(timeout)); |
|
| - | 473 | if(UbxAck.Status == NEWDATA) |
|
| - | 474 | { |
|
| - | 475 | if((UbxAck.clsID == UBX_CLASS_CFG) && (UbxAck.msgID == Id)) retval = UbxAck.Ack; |
|
| - | 476 | } |
|
| - | 477 | UbxAck.Status = INVALID; |
|
| - | 478 | return(retval); |
|
| - | 479 | } |
|