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41 | 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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6 | // + Nur für den privaten Gebrauch |
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7 | // + FOR NON COMMERCIAL USE ONLY |
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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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28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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29 | // + mit unserer Zustimmung zulässig |
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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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43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
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44 | // |
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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 "91x_lib.h" |
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58 | #include "uart1.h" |
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59 | #include "ubx.h" |
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60 | #include <stdio.h> |
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61 | |||
62 | //------------------------------------------------------------------------------------ |
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63 | // global variables |
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64 | |||
65 | |||
66 | // UART0 MUXER |
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67 | typedef enum |
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68 | { |
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69 | UART0_UNDEF, |
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70 | UART0_MK3MAG, |
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71 | UART0_MKGPS |
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72 | } UART0_MuxerState_t; |
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73 | |||
74 | UART0_MuxerState_t UART0_Muxer = UART0_UNDEF; |
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75 | u16 Uart0Baudrate = BAUD_RATE; |
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76 | u16 Uart0MK3MagBaudrate = BAUD_RATE; |
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77 | |||
78 | //------------------------------------------------------------------------------------ |
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79 | // functions |
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80 | |||
81 | /********************************************************/ |
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82 | /* Connect RXD & TXD to GPS */ |
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83 | /********************************************************/ |
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84 | void UART0_Connect_to_MKGPS(void) |
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85 | { |
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86 | GPIO_InitTypeDef GPIO_InitStructure; |
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87 | |||
88 | UART0_Muxer = UART0_UNDEF; |
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89 | |||
90 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
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91 | // unmap UART0 from Compass |
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92 | // set port pin 5.1 (serial data from compass) to input and disconnect from IP |
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93 | GPIO_StructInit(&GPIO_InitStructure); |
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94 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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95 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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96 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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97 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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98 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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99 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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100 | // set port pin 5.0 (serial data to compass) to input |
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101 | GPIO_StructInit(&GPIO_InitStructure); |
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102 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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103 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
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104 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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105 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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106 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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107 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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108 | // map UART0 to GPS |
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109 | // set port pin 6.6 (serial data from gps) to input and connect to IP |
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110 | GPIO_StructInit(&GPIO_InitStructure); |
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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_Enable; |
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115 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
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116 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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117 | // set port pin 6.7 (serial data to gps) to output |
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118 | GPIO_StructInit(&GPIO_InitStructure); |
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119 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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120 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
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121 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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122 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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123 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
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124 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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125 | |||
126 | UART0_Muxer = UART0_MKGPS; |
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127 | } |
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128 | |||
129 | /********************************************************/ |
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130 | /* Connect RXD & TXD to MK3MAG */ |
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131 | /********************************************************/ |
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132 | void UART0_Connect_to_MK3MAG(void) |
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133 | { |
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134 | GPIO_InitTypeDef GPIO_InitStructure; |
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135 | |||
136 | UART0_Muxer = UART0_UNDEF; |
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137 | |||
138 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
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139 | // unmap UART0 from GPS |
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140 | // set port pin 6.6 (serial data from gps) to input and disconnect from IP |
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141 | GPIO_StructInit(&GPIO_InitStructure); |
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142 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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143 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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144 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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145 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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146 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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147 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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148 | // set port pin 6.7 (serial data to gps) to input |
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149 | GPIO_StructInit(&GPIO_InitStructure); |
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150 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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151 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
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152 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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153 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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154 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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155 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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156 | |||
157 | // map UART0 to Compass |
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158 | // set port pin 5.1 (serial data from compass) to input and connect to IP |
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159 | GPIO_StructInit(&GPIO_InitStructure); |
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160 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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161 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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162 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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163 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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164 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
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165 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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166 | // set port pin 5.0 (serial data to compass) to output |
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167 | GPIO_StructInit(&GPIO_InitStructure); |
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168 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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169 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
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170 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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171 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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172 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
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173 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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174 | |||
175 | UART0_Muxer = UART0_MK3MAG; |
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176 | } |
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177 | |||
178 | /********************************************************/ |
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179 | /* Initialize UART0 */ |
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180 | /********************************************************/ |
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181 | void UART0_Init(void) |
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182 | { |
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183 | UART_InitTypeDef UART_InitStructure; |
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184 | |||
185 | SerialPutString("\r\n UART0 init..."); |
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186 | |||
187 | SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART0 Clock |
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188 | |||
189 | Uart0Baudrate = BAUD_RATE + ((BAUD_RATE * 2)/100); // MK3Mag baudrate is a litlle bit higher... |
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190 | |||
191 | /* UART0 configured as follow: |
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192 | - Word Length = 8 Bits |
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193 | - One Stop Bit |
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194 | - No parity |
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195 | - BaudRate = 57600 baud |
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196 | - Hardware flow control Disabled |
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197 | - Receive and transmit enabled |
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198 | - Receive and transmit FIFOs are Disabled |
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199 | */ |
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200 | UART_StructInit(&UART_InitStructure); |
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201 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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202 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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203 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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204 | UART_InitStructure.UART_BaudRate = Uart0Baudrate; |
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205 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
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206 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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207 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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208 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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209 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
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210 | |||
211 | UART_DeInit(UART0); // reset uart 0 to default |
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212 | UART_Init(UART0, &UART_InitStructure); // initialize uart 0 |
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213 | |||
214 | // enable uart 0 interrupts selective |
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215 | UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut /*| UART_IT_FrameError*/, ENABLE); |
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216 | UART_Cmd(UART0, ENABLE); // enable uart 0 |
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217 | // configure the uart 0 interupt line as an IRQ with priority 10 (0 is highest) |
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218 | VIC_Config(UART0_ITLine, VIC_IRQ, 10); |
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219 | // enable the uart 0 IRQ |
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220 | VIC_ITCmd(UART0_ITLine, ENABLE); |
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221 | UART0_Connect_to_MKGPS(); |
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222 | SerialPutString("ok"); |
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223 | } |
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224 | |||
225 | /********************************************************/ |
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226 | /* UART0 Interrupt Handler */ |
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227 | /********************************************************/ |
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228 | void UART0_IRQHandler(void) |
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229 | { |
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230 | u8 c; |
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231 | /* |
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232 | static u8 frame_error_cnt = 0; |
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233 | |||
234 | // use frame error to adjust baudrate for MK3MAG |
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235 | if((UART_GetITStatus(UART0, UART_IT_FrameError) == SET)) |
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236 | { |
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237 | u8 msg[20]; |
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238 | frame_error_cnt++; |
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239 | |||
240 | if (frame_error_cnt == 200) |
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241 | { |
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242 | frame_error_cnt = 0; |
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243 | VIC_ITCmd(UART0_ITLine, DISABLE); |
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244 | |||
245 | Uart0MK3MagBaudrate +=100; |
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246 | if (Uart0MK3MagBaudrate > (BAUD_RATE+1000)) Uart0MK3MagBaudrate = BAUD_RATE; |
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247 | |||
248 | Uart0Baudrate = Uart0MK3MagBaudrate; |
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249 | |||
250 | SerialPutString(" adjusting UART0 baudrate to"); |
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251 | sprintf(msg, " %d baud...", Uart0MK3MagBaudrate); SerialPutString(msg); |
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252 | |||
253 | while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
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254 | { |
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255 | c = UART_ReceiveData(UART0); |
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256 | } |
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257 | |||
258 | UART_ClearITPendingBit(UART0, UART_IT_FrameError); // clear frame error interrupt flag |
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259 | |||
260 | UART0_Init(); |
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261 | return; |
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262 | } |
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263 | |||
264 | }*/ |
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265 | // if receive irq or receive timeout irq has occured |
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266 | if((UART_GetITStatus(UART0, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART0, UART_IT_ReceiveTimeOut) != RESET) ) |
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267 | { |
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268 | UART_ClearITPendingBit(UART0, UART_IT_Receive); // clear receive interrupt flag |
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269 | UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
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270 | |||
271 | // if debug UART is UART0 |
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272 | if (DebugUART == UART0) |
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273 | { // forward received data to the UART1 tx buffer |
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274 | while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
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275 | { |
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276 | // wait for space in the tx buffer of the UART1 |
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277 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {}; |
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278 | // move the byte from the rx buffer of UART0 to the tx buffer of UART1 |
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279 | UART_SendData(UART1, UART_ReceiveData(UART0)); |
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280 | } |
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281 | } |
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282 | else // UART0 is not the DebugUART (normal operation) |
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283 | { |
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284 | // repeat until no byte is in the RxFIFO |
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285 | while (UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
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286 | { |
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287 | c = UART_ReceiveData(UART0); // get byte from rx fifo |
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288 | switch(UART0_Muxer) |
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289 | { |
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290 | case UART0_MKGPS: |
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291 | UBX_Parser(c); // if connected to GPS forward byte to ubx parser |
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292 | break; |
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293 | case UART0_MK3MAG: |
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294 | // ignore any byte send from MK3MAG |
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295 | break; |
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296 | case UART0_UNDEF: |
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297 | default: |
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298 | // ignore the byte from unknown source |
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299 | break; |
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300 | } // eof switch(UART0_Muxer) |
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301 | } // eof while |
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302 | } // eof UART0 is not the DebugUART |
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303 | } // eof receive irq or receive timeout irq |
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304 | } |