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1 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
1 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
1 | ingob | 29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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34 | // + this list of conditions and the following disclaimer. |
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35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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36 | // + from this software without specific prior written permission. |
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37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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38 | // + for non-commercial use (directly or indirectly) |
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39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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40 | // + with our written permission |
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41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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42 | // + clearly linked as origin |
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171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
1 | ingob | 44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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55 | // + POSSIBILITY OF SUCH DAMAGE. |
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56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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57 | #include "main.h" |
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58 | |||
59 | u8 NewGPSDataAvail = 0; |
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60 | u8 NewPCTargetGPSPosition = 0; |
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61 | u8 GPS_RxBuffer[GPS_RX_SIZE]; |
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62 | |||
63 | struct str_ubx_nav_sol *GPS_DataSol; |
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64 | struct str_ubx_nav_posllh *GPS_DataPosllh; |
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65 | struct str_ubx_nav_velned *GPS_DataVelned; |
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66 | struct str_ubx_nav_posutm *GPS_DataPosutm; |
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67 | struct str_gps_nav_data GPS_Data; |
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68 | |||
69 | |||
70 | // ----------------------------- GPS - Receive ------------------------------------ |
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71 | // --- Connect RXD & TXD to GPS --- |
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72 | void Connect_UART0_to_GPS(void) |
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73 | { |
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74 | GPIO_InitTypeDef GPIO_InitStructure; |
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75 | |||
76 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); |
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77 | |||
78 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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79 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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80 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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81 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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82 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1 ; |
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83 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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84 | |||
85 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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86 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
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87 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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88 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1 ; |
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89 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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90 | |||
91 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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92 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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93 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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94 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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95 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1 ; |
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96 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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97 | |||
98 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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99 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
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100 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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101 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3 ; |
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102 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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103 | } |
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104 | //----------------------------------------------- |
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105 | void Connect_UART0_to_Compass(void) |
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106 | { |
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107 | GPIO_InitTypeDef GPIO_InitStructure; |
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108 | |||
109 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
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110 | // GPS off |
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111 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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112 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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113 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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114 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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115 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1 ; |
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116 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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117 | |||
118 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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119 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
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120 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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121 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1 ; |
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122 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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123 | |||
124 | // map UART0 to Compass |
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125 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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126 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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127 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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128 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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129 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1 ; |
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130 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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131 | |||
132 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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133 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
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134 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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135 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3 ; |
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136 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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137 | } |
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138 | |||
139 | |||
140 | // --------------------------- UART0 Init ------------------------------------ |
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141 | void GPS_UART0_Init (void) |
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142 | { |
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143 | UART_InitTypeDef UART_InitStructure; |
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144 | |||
145 | SerialPutString("GPS init..."); |
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146 | |||
147 | SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART1 Clock |
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148 | |||
149 | Connect_UART0_to_GPS(); |
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150 | |||
151 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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152 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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153 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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154 | UART_InitStructure.UART_BaudRate = BAUD_RATE; |
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155 | UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
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156 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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157 | //UART_InitStructure.UART_FIFO = UART_FIFO_Disable; |
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158 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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159 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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160 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
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161 | |||
162 | UART_DeInit(UART0); |
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163 | UART_Init(UART0, &UART_InitStructure); |
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164 | |||
165 | VIC_Config(UART0_ITLine, VIC_IRQ, 10); |
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166 | VIC_ITCmd(UART0_ITLine, ENABLE); |
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167 | |||
168 | UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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169 | UART_Cmd(UART0, ENABLE); |
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170 | |||
171 | GPS_Init(); |
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172 | |||
173 | SerialPutString("ok\n\r"); |
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174 | } |
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175 | |||
176 | // ----------------------------- GPS - Receive ------------------------------------ |
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177 | void UART0_IRQHandler(void) |
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178 | { |
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179 | u8 sioTmp = 0; |
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180 | static u8 uartState = 0, gps_buf_ptr = 0; |
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181 | |||
182 | |||
183 | GPIO_ToggleBit(GPIO5, GPIO_Pin_6); |
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184 | if (DebugUART == UART0) |
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185 | { |
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186 | while (UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
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187 | UART_SendData(UART1, UART_ReceiveData(UART0)); |
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188 | |||
189 | UART_ClearITPendingBit(UART0, UART_IT_Receive); |
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190 | UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); |
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191 | |||
192 | } |
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193 | else |
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194 | if((UART_GetITStatus(UART0, UART_IT_Receive) != RESET)|| (UART_GetITStatus(UART0, UART_IT_ReceiveTimeOut) != RESET) ) |
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195 | { |
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196 | UART_ClearITPendingBit(UART0, UART_IT_Receive); |
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197 | UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); |
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198 | |||
199 | while ((UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) && NewGPSDataAvail == 0) |
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200 | { |
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201 | |||
202 | sioTmp = UART_ReceiveData(UART0); |
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203 | |||
204 | |||
205 | switch (uartState) |
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206 | { |
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207 | case 0: if(sioTmp == 0xB5) { GPS_RxBuffer[4]=0; uartState = 1; } // GPS-UBX Startzeichen |
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208 | gps_buf_ptr = 0; |
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209 | GPS_RxBuffer[gps_buf_ptr++] = sioTmp; |
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210 | break; |
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211 | |||
212 | case 1: |
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213 | if(gps_buf_ptr == 1 && sioTmp != 0x62) { uartState = 0; break;}; // andere Meldung unterdrücken |
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214 | if(gps_buf_ptr == 2 && sioTmp != 0x01) { uartState = 0; break;}; // andere Meldung unterdrücken |
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215 | if(gps_buf_ptr == 3 && sioTmp != 0x02 && sioTmp != 0x06 && sioTmp != 0x12 && sioTmp != 0x08) { uartState = 0; break;}; // andere Meldung unterdrücken |
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216 | |||
217 | GPS_RxBuffer[gps_buf_ptr] = sioTmp; |
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218 | |||
219 | if(gps_buf_ptr < (GPS_RxBuffer[4]+6)) gps_buf_ptr++; |
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220 | else |
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221 | { |
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222 | if(GPS_RxBuffer[3] == 0x06) // NAV SOL |
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223 | { |
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224 | GPS_DataSol = (struct str_ubx_nav_sol *) GPS_RxBuffer; |
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225 | GPS_Data.Flags = GPS_DataSol->Flags; |
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226 | GPS_Data.Used_Sat = GPS_DataSol->Number_SV; |
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227 | GPS_Data.GPS_week = GPS_DataSol->GPS_week; |
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228 | } |
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229 | else if(GPS_RxBuffer[3] == 0x12) //NAV VELNED |
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230 | { |
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231 | GPS_DataVelned = (struct str_ubx_nav_velned *) GPS_RxBuffer; |
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232 | GPS_Data.N_Speed = GPS_DataVelned->N_Speed; |
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233 | GPS_Data.E_Speed = GPS_DataVelned->E_Speed; |
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234 | GPS_Data.DownSpeed = GPS_DataVelned->DownSpeed; |
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235 | |||
236 | GPS_Data.SpeedAccuracy = GPS_DataVelned->SpeedAccuracy; |
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237 | NewGPSDataAvail = 1; |
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238 | } |
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239 | else if(GPS_RxBuffer[3] == 0x02) // NAV POSLLH |
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240 | { |
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241 | GPS_DataPosllh = (struct str_ubx_nav_posllh *) GPS_RxBuffer; |
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242 | GPS_Data.Longitude = GPS_DataPosllh->Longitude; |
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243 | GPS_Data.Latitude = GPS_DataPosllh->Latitude; |
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244 | GPS_Data.Height = GPS_DataPosllh->Height; |
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245 | GPS_Data.HeightSL = GPS_DataPosllh->HeightSL; |
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246 | GPS_Data.GPS_time = GPS_DataPosllh->GPS_time; |
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247 | GPS_Data.HorizontalAccuracy = GPS_DataPosllh->HorizontalAccuracy; |
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248 | GPS_Data.VerticalAccuracy = GPS_DataPosllh->VerticalAccuracy; |
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249 | } |
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250 | else if(GPS_RxBuffer[3] == 0x08) // NAV POSUTM |
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251 | { |
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252 | GPS_DataPosutm = (struct str_ubx_nav_posutm *) GPS_RxBuffer; |
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253 | GPS_Data.North = GPS_DataPosutm->North; |
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254 | GPS_Data.East = GPS_DataPosutm->East; |
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255 | GPS_Data.Altitude = GPS_DataPosutm->Altitude; |
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256 | } |
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257 | uartState = 0; |
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258 | } |
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259 | break; |
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260 | } |
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261 | } |
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262 | |||
263 | } |
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264 | } |