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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 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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1 | ingob | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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22 | // + des Mitverschuldens offen. |
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23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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1 | ingob | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 32 | // + Software LICENSING TERMS |
1 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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1 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | StephanB | 56 | #include "91x_lib.h" |
136 | killagreg | 57 | #include "config.h" |
1 | ingob | 58 | |
59 | //________________________________________________________________________________________________________________________________________ |
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24 | StephanB | 60 | // Module name: ssc.c |
1 | ingob | 61 | // Compiler used: avr-gcc 3.4.5 |
62 | // Last Modifikation: 24.07.2007 |
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63 | // Version: 1.02 |
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64 | // Authors: Stephan Busker |
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65 | // Description: Source files for access to the synchrnous serial channel. |
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66 | // Copyright (C) 2007 Stephan Busker |
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67 | //........................................................................................................................................ |
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24 | StephanB | 68 | // ext. Functions: extern void SSC_Init(void); |
69 | // extern u8 SSC_GetChar (void); |
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1 | ingob | 70 | // extern void SSC_PutChar (u8 Byte); |
71 | // extern void SSC_Disable(void); |
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72 | // extern void SSC_Enable(void); |
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24 | StephanB | 73 | // extern void SSC_ClearRxFifo(); |
1 | ingob | 74 | //........................................................................................................................................ |
75 | // URL: www.Mikro-Control.de |
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76 | // mailto: stephan.busker@mikro-control.de |
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77 | //________________________________________________________________________________________________________________________________________ |
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78 | |||
79 | |||
80 | |||
24 | StephanB | 81 | //________________________________________________________________________________________________________________________________________ |
82 | // Function: SSC_Enable(void); |
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83 | // |
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84 | // Description: This function enables chipselect of the sdcard (active low) |
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85 | // |
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86 | // |
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87 | // Returnvalue: none |
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88 | //________________________________________________________________________________________________________________________________________ |
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1 | ingob | 89 | |
24 | StephanB | 90 | void SSC_Enable(void) |
91 | { |
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92 | // enable chipselect of the sd-card (P5.4 -> SD-CS, active low). |
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93 | GPIO_WriteBit(GPIO5, GPIO_Pin_4 , Bit_RESET); |
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94 | } |
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95 | |||
1 | ingob | 96 | //________________________________________________________________________________________________________________________________________ |
24 | StephanB | 97 | // Function: SSC_Disable(void); |
1 | ingob | 98 | // |
24 | StephanB | 99 | // Description: This function disables chipselect of the sdcard (active low) |
100 | // |
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101 | // |
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102 | // Returnvalue: none |
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103 | //________________________________________________________________________________________________________________________________________ |
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104 | |||
105 | void SSC_Disable(void) |
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106 | { |
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107 | // disable chipselect of the sd-card (P5.4 -> SD-CS, active low). |
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108 | GPIO_WriteBit(GPIO5, GPIO_Pin_4 , Bit_SET); |
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109 | } |
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110 | |||
111 | |||
112 | //________________________________________________________________________________________________________________________________________ |
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113 | // Function: SSC_Init(void); |
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114 | // |
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1 | ingob | 115 | // Description: This function initialises the synchronus serial channel to the sdcard. |
116 | // |
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117 | // |
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118 | // Returnvalue: none |
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119 | //________________________________________________________________________________________________________________________________________ |
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120 | |||
121 | void SSC_Init(void) |
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122 | { |
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24 | StephanB | 123 | GPIO_InitTypeDef GPIO_InitStructure; |
124 | SSP_InitTypeDef SSP_InitStructure; |
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125 | WIU_InitTypeDef WIU_InitStructure; |
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126 | // enable APB clock for SPI1 |
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127 | SCU_APBPeriphClockConfig(__SSP1 ,ENABLE); |
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128 | // configure P5.4 -> SD-CS as an output pin |
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41 | ingob | 129 | GPIO_StructInit(&GPIO_InitStructure); |
24 | StephanB | 130 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
131 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4; |
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132 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 133 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
24 | StephanB | 134 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; |
135 | GPIO_Init (GPIO5, &GPIO_InitStructure); |
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136 | // configure P3.4 -> SCK1 and P3.6 -> MOSI1 as an output pin |
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41 | ingob | 137 | GPIO_StructInit(&GPIO_InitStructure); |
24 | StephanB | 138 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
139 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_6; |
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140 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 141 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
24 | StephanB | 142 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; |
143 | GPIO_Init (GPIO3, &GPIO_InitStructure); |
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144 | // configure P3.5 <- MISO1 as an input pin |
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41 | ingob | 145 | GPIO_StructInit(&GPIO_InitStructure); |
24 | StephanB | 146 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
147 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; |
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148 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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196 | killagreg | 149 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
24 | StephanB | 150 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
151 | GPIO_Init (GPIO3, &GPIO_InitStructure); |
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152 | // configure SPI1 |
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153 | SSP_DeInit(SSP1); |
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154 | SSP_StructInit(&SSP_InitStructure); |
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155 | SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
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156 | SSP_InitStructure.SSP_Mode = SSP_Mode_Master; |
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157 | SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
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158 | SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
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159 | // Set Baud Rate (Prescaler) |
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160 | // bit rate is BRCLK/SSP_ClockPrescaler/(1+SSP_ClockRate)) |
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161 | // With MSCLK = 48MHz/2 = BRCLK we get for the SPICLK = 24Mhz / 8 / (1+5) = 500 kHz |
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41 | ingob | 162 | SSP_InitStructure.SSP_ClockRate = 5; //5 |
24 | StephanB | 163 | SSP_InitStructure.SSP_ClockPrescaler = 8; |
164 | SSP_Init(SSP1, &SSP_InitStructure); |
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165 | SSC_Disable(); |
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166 | SSP_Cmd(SSP1, ENABLE); |
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1 | ingob | 167 | |
24 | StephanB | 168 | // Configure SD_SWITCH at pin GPIO5.3 as an external irq 11 |
1 | ingob | 169 | |
24 | StephanB | 170 | // configure the port |
171 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); // Enable the GPIO5 Clock |
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172 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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173 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
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174 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 175 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
24 | StephanB | 176 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
177 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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178 | |||
179 | // configure the EXT11 interrupt line (P5.3) as an IRQ with the lowest priority |
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180 | SCU_APBPeriphClockConfig(__WIU, ENABLE); |
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154 | killagreg | 181 | WIU_Cmd(ENABLE); |
24 | StephanB | 182 | WIU_ClearITPendingBit(WIU_Line11); |
154 | killagreg | 183 | //WIU_DeInit(); |
24 | StephanB | 184 | WIU_InitStructure.WIU_TriggerEdge = WIU_FallingEdge; |
185 | WIU_InitStructure.WIU_Line = WIU_Line11; |
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186 | WIU_Init(&WIU_InitStructure); |
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187 | // The EXTIT1_IRQHandler() is called every time the SD-Switch is activated (falling edge) |
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188 | // by inserting an sd-card |
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189 | SCU_WakeUpLineConfig(11); |
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136 | killagreg | 190 | VIC_Config(EXTIT1_ITLine, VIC_IRQ, PRIORITY_SDSWITCH); |
24 | StephanB | 191 | VIC_ITCmd(EXTIT1_ITLine, ENABLE); |
192 | } |
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1 | ingob | 193 | |
24 | StephanB | 194 | void SSC_Deinit(void) |
195 | { |
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196 | GPIO_InitTypeDef GPIO_InitStructure; |
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1 | ingob | 197 | |
24 | StephanB | 198 | SSP_Cmd(SSP1, DISABLE); |
199 | SSP_DeInit(SSP1); |
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1 | ingob | 200 | |
24 | StephanB | 201 | // configure P5.4 -> SD-CS as an input pin |
202 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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203 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4; |
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204 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 205 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
24 | StephanB | 206 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
207 | GPIO_Init (GPIO5, &GPIO_InitStructure); |
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208 | // configure P3.4 -> SCK1 and P3.6 -> MOSI1 as an input pin |
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209 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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210 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_6; |
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211 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 212 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
24 | StephanB | 213 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
214 | GPIO_Init (GPIO3, &GPIO_InitStructure); |
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215 | // configure P3.5 <- MISO1 as an input pin |
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216 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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217 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; |
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218 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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196 | killagreg | 219 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
24 | StephanB | 220 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
221 | GPIO_Init (GPIO3, &GPIO_InitStructure); |
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222 | |||
223 | // disable APB clock for SPI1 |
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224 | SCU_APBPeriphClockConfig(__SSP1 ,DISABLE); |
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225 | |||
226 | // configure the port of the SDC-Switch |
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227 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); // Enable the GPIO5 Clock |
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228 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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229 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
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230 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 231 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
24 | StephanB | 232 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
233 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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1 | ingob | 234 | } |
235 | |||
236 | |||
237 | //________________________________________________________________________________________________________________________________________ |
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24 | StephanB | 238 | // Function: SSC_GetChar(void); |
1 | ingob | 239 | // |
240 | // Description: This function reads one byte from the SSC |
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241 | // |
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242 | // |
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243 | // Returnvalue: the byte received. |
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244 | //________________________________________________________________________________________________________________________________________ |
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245 | |||
246 | u8 SSC_GetChar (void) |
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247 | { |
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248 | u8 Byte = 0; |
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24 | StephanB | 249 | while(SSP_GetFlagStatus(SSP1, SSP_FLAG_TxFifoNotFull) != SET); // wait for space in the tx fifo |
250 | SSP_SendData(SSP1, 0xFF);// send dymmy byte (0xFF) as master to receive a byte from the slave |
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251 | while(SSP_GetFlagStatus(SSP1, SSP_FLAG_TxFifoEmpty) != SET); // wait for the byte to be sent |
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252 | Byte = SSP_ReceiveData(SSP1); // read the byte transmitted from the slave |
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1 | ingob | 253 | return (Byte); |
254 | } |
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255 | |||
256 | //________________________________________________________________________________________________________________________________________ |
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257 | void SSC_ClearRxFifo (void) |
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258 | { |
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24 | StephanB | 259 | // wait that the tx fifo is empty |
1 | ingob | 260 | while(SSP_GetFlagStatus(SSP1, SSP_FLAG_TxFifoEmpty) != SET); |
24 | StephanB | 261 | // then empty the rx fifo by reading all the bytes that are available |
1 | ingob | 262 | while(SSP_GetFlagStatus(SSP1, SSP_FLAG_RxFifoNotEmpty) == SET) SSP_ReceiveData(SSP1); |
263 | } |
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264 | //________________________________________________________________________________________________________________________________________ |
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24 | StephanB | 265 | // Function: SSC_PutChar(u8 Byte); |
1 | ingob | 266 | // |
267 | // Description: This function writes one byte to the SSC |
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268 | // |
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269 | // |
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270 | // Returnvalue: none |
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271 | //________________________________________________________________________________________________________________________________________ |
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272 | |||
273 | void SSC_PutChar (u8 Byte) |
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274 | { |
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24 | StephanB | 275 | // wait for some space in the tx fifo |
1 | ingob | 276 | while(SSP_GetFlagStatus(SSP1, SSP_FLAG_TxFifoNotFull) != SET); |
24 | StephanB | 277 | // put the byte to send in the tx fifo |
1 | ingob | 278 | SSP_SendData(SSP1, Byte); |
279 | } |
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280 | |||
281 | |||
282 | |||
283 | |||
284 | |||
285 | |||
286 | |||
287 |