Subversion Repositories NaviCtrl

/*#######################################################################################*/

/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */

/*#######################################################################################*/

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Software Nutzungsbedingungen (english version: see below)

// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -

// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den

// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 

// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.

// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im

// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.

// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie

// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.

// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren

// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren

// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 

// + des Mitverschuldens offen.

// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.

// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.

// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang

// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.

// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.

// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'

// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Software LICENSING TERMS

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -

// + 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 

// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.

// + The Software may only be used with the Licensor's products.

// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this

// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this

// + agreement shall be the property of the Licensor.

// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other

// + features that can be used to identify the program may not be altered or defaced by the customer.

// + The customer shall be responsible for taking reasonable precautions

// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the

// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and

// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product

// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.

// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test

// + the software for his purpose before any operational usage. The customer will backup his data before using the software.

// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data

// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.

// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.

// + #### END OF LICENSING TERMS ####

// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

//#include <stdio.h>

#include "91x_lib.h"

#include "config.h"

#include "uart1.h"

#include "mkprotocol.h"

// the tx buffer

#define UART2_TX_BUFFER_LEN  150

u8 UART2_tbuffer[UART2_TX_BUFFER_LEN];

Buffer_t UART2_tx_buffer;

/********************************************************/

/*                  Initialize UART2                    */

/********************************************************/

void UART2_Init(void)

{

    UART_InitTypeDef UART_InitStructure;

        GPIO_InitTypeDef GPIO_InitStructure;

//      UART1_PutString("\r\n UART2 init...");

        // initialize txd buffer

        Buffer_Init(&UART2_tx_buffer, UART2_tbuffer, UART2_TX_BUFFER_LEN);

        SCU_APBPeriphClockConfig(__UART2, ENABLE);  // Enable the UART2 Clock

        SCU_APBPeriphClockConfig(__GPIO5, ENABLE);  // Enable the GPIO5 Clock

    /*Configure UART2_Rx pin GPIO5.2*/

        GPIO_StructInit(&GPIO_InitStructure);

        GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;

    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_2;

    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull;

    GPIO_InitStructure.GPIO_IPInputConnected =  GPIO_IPInputConnected_Enable;

    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1; // UART2_RxD

    GPIO_Init(GPIO5, &GPIO_InitStructure);

        SCU_APBPeriphClockConfig(__GPIO3, ENABLE);  // Enable the GPIO3 Clock

    /*Configure UART2_Tx pin GPIO3.0*/

        GPIO_StructInit(&GPIO_InitStructure);

        GPIO_InitStructure.GPIO_Direction =     GPIO_PinOutput;

    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_0;

    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull;

    GPIO_InitStructure.GPIO_Alternate =         GPIO_OutputAlt2; // UART2_TX

    GPIO_Init(GPIO3, &GPIO_InitStructure);

        /* UART2 configured as follow:

          - Word Length = 8 Bits

          - One Stop Bit

          - No parity

          - BaudRate = 57600 baud

          - Hardware flow control Disabled

          - Receive and transmit enabled

          - Receive and transmit FIFOs are Disabled

    */

        UART_StructInit(&UART_InitStructure);

    UART_InitStructure.UART_WordLength =                        UART_WordLength_8D;

    UART_InitStructure.UART_StopBits =                          UART_StopBits_1;

    UART_InitStructure.UART_Parity =                            UART_Parity_No ;

    UART_InitStructure.UART_BaudRate =                          UART2_BAUD_RATE;

    UART_InitStructure.UART_HardwareFlowControl =       UART_HardwareFlowControl_None;

    UART_InitStructure.UART_Mode =                                      UART_Mode_Tx_Rx;

    UART_InitStructure.UART_FIFO =                                      UART_FIFO_Enable;

    UART_InitStructure.UART_TxFIFOLevel =                       UART_FIFOLevel_1_2;

    UART_InitStructure.UART_RxFIFOLevel =                       UART_FIFOLevel_1_2;

        UART_DeInit(UART2);     // reset uart 2 to default

    UART_Init(UART2, &UART_InitStructure);  // initialize uart 2

        // enable uart 2 interrupts selective

    UART_ITConfig(UART2, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE);

        UART_Cmd(UART2, ENABLE); // enable uart 2

        // configure the uart 2 interupt line

        VIC_Config(UART2_ITLine, VIC_IRQ, PRIORITY_UART2);

        // enable the uart 2 IRQ

        VIC_ITCmd(UART2_ITLine, ENABLE);

//      UART1_PutString("ok");

}

void UART2_Deinit(void)

{

        GPIO_InitTypeDef GPIO_InitStructure;

        UART1_PutString("\r\n UART2 deinit...");

        VIC_ITCmd(UART2_ITLine, DISABLE); // disable the uart 2 IRQ

        UART_Cmd(UART2, DISABLE); // disable uart 2

        UART_DeInit(UART2);     // reset uart 0 to default

        SCU_APBPeriphClockConfig(__UART2, DISABLE);  // disable the UART2 Clock

        SCU_APBPeriphClockConfig(__GPIO5, ENABLE);

        // unmap UART2 from FC

        // set port pin 5.2 (serial data from FC) to input and disconnect from IP

        GPIO_StructInit(&GPIO_InitStructure);

        GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;

    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_2;

    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull;

    GPIO_InitStructure.GPIO_IPInputConnected =  GPIO_IPInputConnected_Disable;

    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1;

    GPIO_Init(GPIO5, &GPIO_InitStructure);

        SCU_APBPeriphClockConfig(__GPIO3, ENABLE);

        // set port pin 3.0 (serial data to FC) to input and disconnect from IP

        GPIO_StructInit(&GPIO_InitStructure);

        GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;

    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_0;

    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull;

        GPIO_InitStructure.GPIO_IPInputConnected =      GPIO_IPInputConnected_Disable;

    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1;

    GPIO_Init(GPIO3, &GPIO_InitStructure);

        UART1_PutString("ok");

}

/********************************************************/

/*            UART2 Interrupt Handler                   */

/********************************************************/

void UART2_IRQHandler(void)

{

        // if receive irq or receive timeout irq has occured

        if((UART_GetITStatus(UART2, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART2, UART_IT_ReceiveTimeOut) != RESET) )

        {

                UART_ClearITPendingBit(UART2, UART_IT_Receive);                 // clear receive interrupt flag

                UART_ClearITPendingBit(UART2, UART_IT_ReceiveTimeOut);  // clear receive timeout interrupt flag

                // if debug UART is UART2

                if (DebugUART == UART2)

                {       // forward received data to the UART1 tx buffer

                        while(UART_GetFlagStatus(UART2, UART_FLAG_RxFIFOEmpty) != SET)

                        {

                                // wait for space in the tx buffer of the UART1

                                while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {};

                                // move the byte from the rx buffer of UART2 to the tx buffer of UART1

                                UART_SendData(UART1, UART_ReceiveData(UART2));

                        }

                }

                else

                {

                        // ignore serial data from the FC

                        while(UART_GetFlagStatus(UART2, UART_FLAG_RxFIFOEmpty) != SET)

                        {

                                UART_ReceiveData(UART2);

                        }

                }

        } // eof receive irq or receive timeout irq

        VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register

}

/**************************************************************/

/*         Transmit tx buffer via uart2                       */

/**************************************************************/

void UART2_Transmit(void)

{

        u8 tmp_tx;

        if(DebugUART == UART2) return; // no data output if debug uart is rederected to UART2

        // if something has to be send and the txd fifo is not full

        if((UART2_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART2, UART_FLAG_TxFIFOFull) == RESET))

        {

                tmp_tx = UART2_tx_buffer.pData[UART2_tx_buffer.Position++]; // read next byte from txd buffer

                UART_SendData(UART2, tmp_tx); // put character to txd fifo

                // if terminating character or end of txd buffer reached

                if((tmp_tx == '\r') || (UART2_tx_buffer.Position == UART2_tx_buffer.Size))

                {

                        Buffer_Clear(&UART2_tx_buffer);

                }

        }

}

/**************************************************************/

/* Send the answers to incomming commands at the uart2        */

/**************************************************************/

void UART2_TransmitTxData(void)

{

        if(DebugUART == UART2) return;

        UART2_Transmit(); // output pending bytes in tx buffer

}

void UART2_ProcessRxData(void)

{

}