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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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110 | killagreg | 57 | #include <stdio.h> |
58 | #include <stdarg.h> |
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116 | killagreg | 59 | #include <string.h> |
41 | ingob | 60 | #include "91x_lib.h" |
110 | killagreg | 61 | #include "main.h" |
49 | ingob | 62 | #include "uart0.h" |
41 | ingob | 63 | #include "uart1.h" |
119 | killagreg | 64 | #include "timer1.h" |
41 | ingob | 65 | #include "ubx.h" |
110 | killagreg | 66 | #include "mkprotocol.h" |
41 | ingob | 67 | |
116 | killagreg | 68 | |
41 | ingob | 69 | //------------------------------------------------------------------------------------ |
70 | // global variables |
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71 | |||
116 | killagreg | 72 | MKOSD_VersionInfo_t MKOSD_VersionInfo; |
73 | |||
110 | killagreg | 74 | #define UART0_BAUD_RATE 57600 //Baud Rate for the serial interfaces |
41 | ingob | 75 | // UART0 MUXER |
76 | UART0_MuxerState_t UART0_Muxer = UART0_UNDEF; |
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110 | killagreg | 77 | u16 Uart0Baudrate = UART0_BAUD_RATE; |
78 | u16 Uart0MK3MagBaudrate = UART0_BAUD_RATE; |
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41 | ingob | 79 | |
110 | killagreg | 80 | // the tx buffer |
81 | #define UART0_TX_BUFFER_LEN 150 |
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82 | u8 UART0_tbuffer[UART0_TX_BUFFER_LEN]; |
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83 | Buffer_t UART0_tx_buffer; |
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49 | ingob | 84 | |
110 | killagreg | 85 | // the rx buffer |
86 | #define UART0_RX_BUFFER_LEN 150 |
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87 | u8 UART0_rbuffer[UART0_RX_BUFFER_LEN]; |
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88 | Buffer_t UART0_rx_buffer; |
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89 | |||
116 | killagreg | 90 | u8 UART0_Request_VersionInfo = FALSE; |
91 | u8 UART0_Request_NaviData = FALSE; |
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117 | killagreg | 92 | u8 UART0_Request_ErrorMessage = FALSE; |
116 | killagreg | 93 | u32 UART0_NaviData_Timer; |
94 | u32 UART0_NaviData_Interval = 0; // in ms |
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110 | killagreg | 95 | |
41 | ingob | 96 | //------------------------------------------------------------------------------------ |
97 | // functions |
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98 | |||
99 | /********************************************************/ |
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100 | /* Connect RXD & TXD to GPS */ |
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101 | /********************************************************/ |
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102 | void UART0_Connect_to_MKGPS(void) |
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103 | { |
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104 | GPIO_InitTypeDef GPIO_InitStructure; |
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105 | |||
106 | UART0_Muxer = UART0_UNDEF; |
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107 | |||
108 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
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109 | // unmap UART0 from Compass |
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110 | // set port pin 5.1 (serial data from compass) to input and disconnect from IP |
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111 | GPIO_StructInit(&GPIO_InitStructure); |
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112 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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113 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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114 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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115 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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116 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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117 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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118 | // set port pin 5.0 (serial data to compass) to input |
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119 | GPIO_StructInit(&GPIO_InitStructure); |
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120 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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121 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
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122 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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123 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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124 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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125 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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126 | // map UART0 to GPS |
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127 | // set port pin 6.6 (serial data from gps) to input and connect to IP |
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128 | GPIO_StructInit(&GPIO_InitStructure); |
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129 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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130 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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131 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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132 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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133 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
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134 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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135 | // set port pin 6.7 (serial data to gps) to output |
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136 | GPIO_StructInit(&GPIO_InitStructure); |
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137 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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138 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
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139 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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140 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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141 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
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142 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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143 | |||
144 | UART0_Muxer = UART0_MKGPS; |
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145 | } |
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146 | |||
147 | /********************************************************/ |
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148 | /* Connect RXD & TXD to MK3MAG */ |
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149 | /********************************************************/ |
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150 | void UART0_Connect_to_MK3MAG(void) |
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151 | { |
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152 | GPIO_InitTypeDef GPIO_InitStructure; |
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153 | |||
154 | UART0_Muxer = UART0_UNDEF; |
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155 | |||
156 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
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157 | // unmap UART0 from GPS |
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158 | // set port pin 6.6 (serial data from gps) to input and disconnect from 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_6; |
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162 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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163 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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164 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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165 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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166 | // set port pin 6.7 (serial data to gps) to input |
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167 | GPIO_StructInit(&GPIO_InitStructure); |
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168 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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169 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
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170 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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171 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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172 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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173 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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174 | |||
175 | // map UART0 to Compass |
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176 | // set port pin 5.1 (serial data from compass) to input and connect to IP |
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177 | GPIO_StructInit(&GPIO_InitStructure); |
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178 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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179 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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180 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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181 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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182 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
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183 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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184 | // set port pin 5.0 (serial data to compass) to output |
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185 | GPIO_StructInit(&GPIO_InitStructure); |
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186 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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187 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
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188 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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189 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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190 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
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191 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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192 | |||
193 | UART0_Muxer = UART0_MK3MAG; |
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194 | } |
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195 | |||
196 | /********************************************************/ |
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197 | /* Initialize UART0 */ |
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198 | /********************************************************/ |
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199 | void UART0_Init(void) |
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200 | { |
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201 | UART_InitTypeDef UART_InitStructure; |
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202 | |||
110 | killagreg | 203 | UART1_PutString("\r\n UART0 init..."); |
41 | ingob | 204 | |
205 | SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART0 Clock |
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206 | |||
110 | killagreg | 207 | Uart0Baudrate = UART0_BAUD_RATE + ((UART0_BAUD_RATE * 2)/100); // MK3Mag baudrate is a litlle bit higher... |
41 | ingob | 208 | |
209 | /* UART0 configured as follow: |
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210 | - Word Length = 8 Bits |
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211 | - One Stop Bit |
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212 | - No parity |
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213 | - BaudRate = 57600 baud |
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214 | - Hardware flow control Disabled |
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215 | - Receive and transmit enabled |
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216 | - Receive and transmit FIFOs are Disabled |
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217 | */ |
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218 | UART_StructInit(&UART_InitStructure); |
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219 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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220 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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221 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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222 | UART_InitStructure.UART_BaudRate = Uart0Baudrate; |
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223 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
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224 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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225 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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226 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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227 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
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228 | |||
229 | UART_DeInit(UART0); // reset uart 0 to default |
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230 | UART_Init(UART0, &UART_InitStructure); // initialize uart 0 |
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231 | |||
232 | // enable uart 0 interrupts selective |
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233 | UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut /*| UART_IT_FrameError*/, ENABLE); |
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234 | UART_Cmd(UART0, ENABLE); // enable uart 0 |
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134 | killagreg | 235 | // configure the uart 0 interupt line as an IRQ with priority 9 (0 is highest) |
236 | VIC_Config(UART0_ITLine, VIC_IRQ, 9); |
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41 | ingob | 237 | // enable the uart 0 IRQ |
238 | VIC_ITCmd(UART0_ITLine, ENABLE); |
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239 | UART0_Connect_to_MKGPS(); |
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240 | |||
110 | killagreg | 241 | // initialize txd buffer |
112 | killagreg | 242 | Buffer_Init(&UART0_tx_buffer, UART0_tbuffer, UART0_TX_BUFFER_LEN); |
110 | killagreg | 243 | |
244 | // initialize rxd buffer |
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112 | killagreg | 245 | Buffer_Init(&UART0_rx_buffer, UART0_rbuffer, UART0_RX_BUFFER_LEN); |
49 | ingob | 246 | |
110 | killagreg | 247 | UART1_PutString("ok"); |
49 | ingob | 248 | } |
249 | |||
41 | ingob | 250 | /********************************************************/ |
251 | /* UART0 Interrupt Handler */ |
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252 | /********************************************************/ |
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253 | void UART0_IRQHandler(void) |
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254 | { |
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255 | u8 c; |
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256 | // if receive irq or receive timeout irq has occured |
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257 | if((UART_GetITStatus(UART0, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART0, UART_IT_ReceiveTimeOut) != RESET) ) |
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258 | { |
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259 | UART_ClearITPendingBit(UART0, UART_IT_Receive); // clear receive interrupt flag |
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260 | UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
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261 | |||
262 | // if debug UART is UART0 |
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263 | if (DebugUART == UART0) |
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264 | { // forward received data to the UART1 tx buffer |
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265 | while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
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266 | { |
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267 | // wait for space in the tx buffer of the UART1 |
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268 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {}; |
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269 | // move the byte from the rx buffer of UART0 to the tx buffer of UART1 |
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270 | UART_SendData(UART1, UART_ReceiveData(UART0)); |
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271 | } |
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272 | } |
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273 | else // UART0 is not the DebugUART (normal operation) |
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274 | { |
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275 | // repeat until no byte is in the RxFIFO |
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276 | while (UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
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277 | { |
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278 | c = UART_ReceiveData(UART0); // get byte from rx fifo |
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279 | switch(UART0_Muxer) |
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280 | { |
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281 | case UART0_MKGPS: |
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282 | UBX_Parser(c); // if connected to GPS forward byte to ubx parser |
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110 | killagreg | 283 | MKProtocol_CollectSerialFrame(&UART0_rx_buffer, c); // ckeck for MK-Frames also |
41 | ingob | 284 | break; |
285 | case UART0_MK3MAG: |
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286 | // ignore any byte send from MK3MAG |
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287 | break; |
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288 | case UART0_UNDEF: |
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289 | default: |
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290 | // ignore the byte from unknown source |
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291 | break; |
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292 | } // eof switch(UART0_Muxer) |
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293 | } // eof while |
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294 | } // eof UART0 is not the DebugUART |
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295 | } // eof receive irq or receive timeout irq |
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296 | } |
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110 | killagreg | 297 | |
298 | /**************************************************************/ |
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299 | /* Process incomming data from debug uart */ |
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300 | /**************************************************************/ |
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301 | void UART0_ProcessRxData(void) |
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302 | { |
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303 | SerialMsg_t SerialMsg; |
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304 | // if data in the rxd buffer are not locked immediately return |
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305 | if((UART0_rx_buffer.Locked == FALSE) || (DebugUART == UART0) ) return; |
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306 | |||
307 | MKProtocol_DecodeSerialFrame(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
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308 | |||
309 | switch(SerialMsg.Address) // check for Slave Address |
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310 | { |
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116 | killagreg | 311 | case MKOSD_ADDRESS: // answers from the MKOSD |
312 | switch(SerialMsg.CmdID) |
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313 | { |
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314 | case 'V': |
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315 | memcpy(&MKOSD_VersionInfo, SerialMsg.pData, sizeof(MKOSD_VersionInfo)); // copy echo pattern |
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316 | break; |
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317 | default: |
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318 | break; |
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319 | } // case MKOSD_ADDRESS |
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320 | break; |
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321 | |||
110 | killagreg | 322 | case NC_ADDRESS: // own Slave Address |
116 | killagreg | 323 | switch(SerialMsg.CmdID) |
324 | { |
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117 | killagreg | 325 | case 'e': // request for the text of the error status |
326 | UART0_Request_ErrorMessage = TRUE; |
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327 | break; |
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328 | case 'o': // request for navigation information |
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329 | UART0_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
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330 | if(UART0_NaviData_Interval > 0) UART0_Request_NaviData = TRUE; |
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331 | break; |
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116 | killagreg | 332 | default: |
333 | break; |
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334 | } // case NC_ADDRESS |
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335 | // "break;" is missing here to fall thru to the common commands |
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110 | killagreg | 336 | |
337 | default: // and any other Slave Address |
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116 | killagreg | 338 | switch(SerialMsg.CmdID) // check CmdID |
339 | { |
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340 | case 'v': // request for version info |
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341 | UART0_Request_VersionInfo = TRUE; |
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342 | break; |
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343 | default: |
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344 | // unsupported command recieved |
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345 | break; |
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346 | } |
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347 | break; // default: |
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110 | killagreg | 348 | } |
112 | killagreg | 349 | Buffer_Clear(&UART0_rx_buffer); |
110 | killagreg | 350 | } |
351 | |||
352 | /**************************************************************/ |
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353 | /* Transmit tx buffer via uart0 */ |
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354 | /**************************************************************/ |
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355 | void UART0_Transmit(void) |
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356 | { |
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357 | u8 tmp_tx; |
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358 | if(DebugUART == UART0) return; // no data output if debug uart is rederected to UART0 |
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359 | // if something has to be send and the txd fifo is not full |
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360 | if((UART0_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART0, UART_FLAG_TxFIFOFull) == RESET)) |
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361 | { |
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362 | tmp_tx = UART0_tx_buffer.pData[UART0_tx_buffer.Position++]; // read next byte from txd buffer |
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363 | UART_SendData(UART0, tmp_tx); // put character to txd fifo |
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364 | // if terminating character or end of txd buffer reached |
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365 | if((tmp_tx == '\r') || (UART0_tx_buffer.Position == UART0_tx_buffer.Size)) |
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366 | { |
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112 | killagreg | 367 | Buffer_Clear(&UART0_tx_buffer); |
110 | killagreg | 368 | } |
369 | } |
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370 | } |
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371 | |||
372 | |||
373 | /**************************************************************/ |
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374 | /* Send the answers to incomming commands at the uart0 */ |
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375 | /**************************************************************/ |
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376 | void UART0_TransmitTxData(void) |
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377 | { |
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378 | if(DebugUART == UART0) return; |
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379 | UART0_Transmit(); // output pending bytes in tx buffer |
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380 | if(UART0_tx_buffer.Locked == TRUE) return; |
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381 | |||
117 | killagreg | 382 | if(UART0_Request_ErrorMessage && (UART0_tx_buffer.Locked == FALSE)) |
383 | { |
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384 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
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385 | UART0_Request_ErrorMessage = FALSE; |
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386 | } |
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116 | killagreg | 387 | if(UART0_Request_VersionInfo && (UART0_tx_buffer.Locked == FALSE)) |
388 | { |
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389 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
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390 | UART0_Request_VersionInfo = FALSE; |
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391 | } |
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110 | killagreg | 392 | if(( (UART0_NaviData_Interval && CheckDelay(UART0_NaviData_Timer) ) || UART0_Request_NaviData) && (UART0_tx_buffer.Locked == FALSE)) |
393 | { |
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394 | NaviData.Errorcode = ErrorCode; |
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395 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
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396 | UART0_NaviData_Timer = SetDelay(UART0_NaviData_Interval); |
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397 | UART0_Request_NaviData = FALSE; |
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398 | } |
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399 | UART0_Transmit(); // output pending bytes in tx buffer |
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400 | } |
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116 | killagreg | 401 | |
402 | |||
403 | /**************************************************************/ |
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404 | /* Get the version of the MKOSD */ |
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405 | /**************************************************************/ |
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406 | void UART0_GetMKOSDVersion(void) |
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407 | { |
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408 | u32 timeout; |
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409 | u8 msg[64]; |
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410 | |||
411 | MKOSD_VersionInfo.SWMajor = 0xFF; |
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412 | MKOSD_VersionInfo.SWMinor = 0xFF; |
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413 | MKOSD_VersionInfo.SWPatch = 0xFF; |
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414 | |||
415 | if(UART0_Muxer != UART0_MKGPS) UART0_Connect_to_MKGPS(); |
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416 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
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417 | |||
418 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'v', MKOSD_ADDRESS, 0); // request for version info |
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419 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
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420 | |||
421 | timeout = SetDelay(500); |
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422 | do |
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423 | { |
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424 | UART0_ProcessRxData(); |
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425 | if(MKOSD_VersionInfo.SWMajor != 0xFF) break; |
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426 | }while(!CheckDelay(timeout)); |
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427 | |||
428 | if(MKOSD_VersionInfo.SWMajor != 0xFF) |
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429 | { |
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430 | sprintf(msg, "\n\r MK-OSD V%d.%d%c", MKOSD_VersionInfo.SWMajor, MKOSD_VersionInfo.SWMinor, 'a'+MKOSD_VersionInfo.SWPatch); |
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431 | UART1_PutString(msg); |
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432 | } |
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433 | //else UART1_PutString("\n\r No version information from MK-OSD."); |
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434 | } |