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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 | // + 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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41 | 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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41 | ingob | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 32 | // + Software LICENSING TERMS |
41 | 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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41 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
110 | killagreg | 56 | #include <stdio.h> |
57 | #include <stdarg.h> |
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116 | killagreg | 58 | #include <string.h> |
41 | ingob | 59 | #include "91x_lib.h" |
136 | killagreg | 60 | #include "config.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 | |||
41 | ingob | 74 | // UART0 MUXER |
75 | UART0_MuxerState_t UART0_Muxer = UART0_UNDEF; |
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110 | killagreg | 76 | u16 Uart0Baudrate = UART0_BAUD_RATE; |
77 | u16 Uart0MK3MagBaudrate = UART0_BAUD_RATE; |
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41 | ingob | 78 | |
110 | killagreg | 79 | // the tx buffer |
247 | killagreg | 80 | #define UART0_TX_BUFFER_LEN 150 |
110 | killagreg | 81 | u8 UART0_tbuffer[UART0_TX_BUFFER_LEN]; |
82 | Buffer_t UART0_tx_buffer; |
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49 | ingob | 83 | |
110 | killagreg | 84 | // the rx buffer |
247 | killagreg | 85 | #define UART0_RX_BUFFER_LEN 150 |
110 | killagreg | 86 | u8 UART0_rbuffer[UART0_RX_BUFFER_LEN]; |
87 | Buffer_t UART0_rx_buffer; |
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88 | |||
116 | killagreg | 89 | u8 UART0_Request_VersionInfo = FALSE; |
90 | u8 UART0_Request_NaviData = FALSE; |
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117 | killagreg | 91 | u8 UART0_Request_ErrorMessage = FALSE; |
116 | killagreg | 92 | u32 UART0_NaviData_Timer; |
93 | u32 UART0_NaviData_Interval = 0; // in ms |
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110 | killagreg | 94 | |
582 | holgerb | 95 | u16 GPS_Version = 0; |
41 | ingob | 96 | //------------------------------------------------------------------------------------ |
97 | // functions |
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98 | |||
99 | /********************************************************/ |
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245 | killagreg | 100 | /* Configure uart 0 */ |
101 | /********************************************************/ |
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102 | void UART0_Configure(u16 Baudrate) |
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103 | { |
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104 | UART_InitTypeDef UART_InitStructure; |
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105 | |||
106 | SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART0 Clock |
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107 | |||
108 | /* UART0 configured as follow: |
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109 | - Word Length = 8 Bits |
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110 | - One Stop Bit |
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111 | - No parity |
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112 | - BaudRate taken from function argument |
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113 | - Hardware flow control Disabled |
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114 | - Receive and transmit enabled |
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115 | - Receive and transmit FIFOs are Disabled |
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116 | */ |
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117 | UART_StructInit(&UART_InitStructure); |
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118 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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119 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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120 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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121 | UART_InitStructure.UART_BaudRate = Baudrate; |
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122 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
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123 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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124 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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125 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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126 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
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127 | |||
128 | UART_DeInit(UART0); // reset uart 0 to default |
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129 | UART_Init(UART0, &UART_InitStructure); // initialize uart 0 |
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130 | |||
131 | // enable uart 0 interrupts selective |
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132 | UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut /*| UART_IT_FrameError*/, ENABLE); |
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133 | UART_Cmd(UART0, ENABLE); // enable uart 0 |
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134 | // configure the uart 0 interupt line |
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135 | VIC_Config(UART0_ITLine, VIC_IRQ, PRIORITY_UART0); |
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136 | // enable the uart 0 IRQ |
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137 | VIC_ITCmd(UART0_ITLine, ENABLE); |
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138 | } |
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139 | |||
140 | /********************************************************/ |
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41 | ingob | 141 | /* Connect RXD & TXD to GPS */ |
142 | /********************************************************/ |
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245 | killagreg | 143 | void UART0_Connect_to_MKGPS(u16 Baudrate) |
41 | ingob | 144 | { |
145 | GPIO_InitTypeDef GPIO_InitStructure; |
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146 | |||
147 | UART0_Muxer = UART0_UNDEF; |
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148 | |||
149 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
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150 | // unmap UART0 from Compass |
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151 | // set port pin 5.1 (serial data from compass) to input and disconnect from IP |
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152 | GPIO_StructInit(&GPIO_InitStructure); |
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153 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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154 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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155 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 156 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
41 | ingob | 157 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
158 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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159 | // set port pin 5.0 (serial data to compass) to input |
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160 | GPIO_StructInit(&GPIO_InitStructure); |
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161 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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162 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
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163 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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196 | killagreg | 164 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
41 | ingob | 165 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
166 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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167 | // map UART0 to GPS |
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168 | // set port pin 6.6 (serial data from gps) to input and connect to IP |
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169 | GPIO_StructInit(&GPIO_InitStructure); |
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170 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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171 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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172 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 173 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 174 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
175 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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176 | // set port pin 6.7 (serial data to gps) to output |
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177 | GPIO_StructInit(&GPIO_InitStructure); |
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178 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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179 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
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180 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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196 | killagreg | 181 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 182 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
183 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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245 | killagreg | 184 | // configure the UART0 |
185 | UART0_Configure(Baudrate); |
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41 | ingob | 186 | |
187 | UART0_Muxer = UART0_MKGPS; |
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188 | } |
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189 | |||
190 | /********************************************************/ |
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191 | /* Connect RXD & TXD to MK3MAG */ |
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192 | /********************************************************/ |
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193 | void UART0_Connect_to_MK3MAG(void) |
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194 | { |
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245 | killagreg | 195 | u16 Baudrate; |
196 | |||
41 | ingob | 197 | GPIO_InitTypeDef GPIO_InitStructure; |
198 | |||
199 | UART0_Muxer = UART0_UNDEF; |
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200 | |||
201 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
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202 | // unmap UART0 from GPS |
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203 | // set port pin 6.6 (serial data from gps) to input and disconnect from IP |
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204 | GPIO_StructInit(&GPIO_InitStructure); |
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205 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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206 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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207 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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196 | killagreg | 208 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
41 | ingob | 209 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
210 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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211 | // set port pin 6.7 (serial data to gps) to input |
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212 | GPIO_StructInit(&GPIO_InitStructure); |
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213 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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214 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
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215 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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196 | killagreg | 216 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
41 | ingob | 217 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
218 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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219 | |||
220 | // map UART0 to Compass |
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221 | // set port pin 5.1 (serial data from compass) to input and connect to IP |
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222 | GPIO_StructInit(&GPIO_InitStructure); |
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223 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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224 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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225 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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196 | killagreg | 226 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 227 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
228 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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229 | // set port pin 5.0 (serial data to compass) to output |
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230 | GPIO_StructInit(&GPIO_InitStructure); |
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231 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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232 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
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233 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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196 | killagreg | 234 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 235 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
236 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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245 | killagreg | 237 | Baudrate = UART0_BAUD_RATE + ((UART0_BAUD_RATE * 2)/100); // MK3Mag baudrate is a little bit higher... |
238 | UART0_Configure(Baudrate); |
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41 | ingob | 239 | UART0_Muxer = UART0_MK3MAG; |
240 | } |
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241 | |||
242 | /********************************************************/ |
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243 | /* Initialize UART0 */ |
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244 | /********************************************************/ |
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245 | void UART0_Init(void) |
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246 | { |
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110 | killagreg | 247 | UART1_PutString("\r\n UART0 init..."); |
41 | ingob | 248 | |
245 | killagreg | 249 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
41 | ingob | 250 | |
110 | killagreg | 251 | // initialize txd buffer |
112 | killagreg | 252 | Buffer_Init(&UART0_tx_buffer, UART0_tbuffer, UART0_TX_BUFFER_LEN); |
110 | killagreg | 253 | |
254 | // initialize rxd buffer |
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112 | killagreg | 255 | Buffer_Init(&UART0_rx_buffer, UART0_rbuffer, UART0_RX_BUFFER_LEN); |
49 | ingob | 256 | |
110 | killagreg | 257 | UART1_PutString("ok"); |
49 | ingob | 258 | } |
259 | |||
41 | ingob | 260 | /********************************************************/ |
261 | /* UART0 Interrupt Handler */ |
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262 | /********************************************************/ |
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263 | void UART0_IRQHandler(void) |
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264 | { |
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265 | u8 c; |
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136 | killagreg | 266 | // if receive irq (FIFO is over trigger level) or receive timeout irq (FIFO is not empty for longer times) has occured |
41 | ingob | 267 | if((UART_GetITStatus(UART0, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART0, UART_IT_ReceiveTimeOut) != RESET) ) |
268 | { |
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269 | UART_ClearITPendingBit(UART0, UART_IT_Receive); // clear receive interrupt flag |
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270 | UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
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271 | |||
272 | // if debug UART is UART0 |
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273 | if (DebugUART == UART0) |
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274 | { // forward received data to the UART1 tx buffer |
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275 | while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
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276 | { |
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277 | // wait for space in the tx buffer of the UART1 |
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278 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {}; |
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279 | // move the byte from the rx buffer of UART0 to the tx buffer of UART1 |
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280 | UART_SendData(UART1, UART_ReceiveData(UART0)); |
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281 | } |
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282 | } |
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283 | else // UART0 is not the DebugUART (normal operation) |
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284 | { |
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285 | // repeat until no byte is in the RxFIFO |
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286 | while (UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
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287 | { |
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288 | c = UART_ReceiveData(UART0); // get byte from rx fifo |
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289 | switch(UART0_Muxer) |
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290 | { |
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291 | case UART0_MKGPS: |
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245 | killagreg | 292 | UBX_RxParser(c); // if connected to GPS forward byte to ubx parser |
378 | holgerb | 293 | // MKProtocol_CollectSerialFrame(&UART0_rx_buffer, c); // ckeck for MK-Frames also |
41 | ingob | 294 | break; |
295 | case UART0_MK3MAG: |
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296 | // ignore any byte send from MK3MAG |
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297 | break; |
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298 | case UART0_UNDEF: |
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299 | default: |
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300 | // ignore the byte from unknown source |
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301 | break; |
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302 | } // eof switch(UART0_Muxer) |
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303 | } // eof while |
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304 | } // eof UART0 is not the DebugUART |
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305 | } // eof receive irq or receive timeout irq |
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378 | holgerb | 306 | |
307 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
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41 | ingob | 308 | } |
110 | killagreg | 309 | |
310 | /**************************************************************/ |
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311 | /* Process incomming data from debug uart */ |
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312 | /**************************************************************/ |
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313 | void UART0_ProcessRxData(void) |
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314 | { |
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315 | SerialMsg_t SerialMsg; |
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316 | // if data in the rxd buffer are not locked immediately return |
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317 | if((UART0_rx_buffer.Locked == FALSE) || (DebugUART == UART0) ) return; |
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318 | |||
190 | killagreg | 319 | MKProtocol_DecodeSerialFrameHeader(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
320 | MKProtocol_DecodeSerialFrameData(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
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321 | |||
322 | switch(SerialMsg.Address) // check for Slave Address |
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110 | killagreg | 323 | { |
116 | killagreg | 324 | case MKOSD_ADDRESS: // answers from the MKOSD |
190 | killagreg | 325 | switch(SerialMsg.CmdID) |
116 | killagreg | 326 | { |
327 | case 'V': |
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328 | memcpy(&MKOSD_VersionInfo, SerialMsg.pData, sizeof(MKOSD_VersionInfo)); // copy echo pattern |
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329 | break; |
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330 | default: |
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331 | break; |
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332 | } // case MKOSD_ADDRESS |
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333 | break; |
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334 | |||
110 | killagreg | 335 | case NC_ADDRESS: // own Slave Address |
190 | killagreg | 336 | switch(SerialMsg.CmdID) |
116 | killagreg | 337 | { |
117 | killagreg | 338 | case 'e': // request for the text of the error status |
339 | UART0_Request_ErrorMessage = TRUE; |
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340 | break; |
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341 | case 'o': // request for navigation information |
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342 | UART0_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
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343 | if(UART0_NaviData_Interval > 0) UART0_Request_NaviData = TRUE; |
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344 | break; |
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116 | killagreg | 345 | default: |
346 | break; |
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347 | } // case NC_ADDRESS |
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348 | // "break;" is missing here to fall thru to the common commands |
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110 | killagreg | 349 | |
350 | default: // and any other Slave Address |
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190 | killagreg | 351 | switch(SerialMsg.CmdID) // check CmdID |
116 | killagreg | 352 | { |
353 | case 'v': // request for version info |
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354 | UART0_Request_VersionInfo = TRUE; |
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355 | break; |
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356 | default: |
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357 | // unsupported command recieved |
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358 | break; |
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359 | } |
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360 | break; // default: |
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110 | killagreg | 361 | } |
112 | killagreg | 362 | Buffer_Clear(&UART0_rx_buffer); |
110 | killagreg | 363 | } |
364 | |||
365 | /**************************************************************/ |
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366 | /* Transmit tx buffer via uart0 */ |
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367 | /**************************************************************/ |
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368 | void UART0_Transmit(void) |
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369 | { |
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370 | u8 tmp_tx; |
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195 | killagreg | 371 | |
110 | killagreg | 372 | if(DebugUART == UART0) return; // no data output if debug uart is rederected to UART0 |
373 | // if something has to be send and the txd fifo is not full |
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374 | if((UART0_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART0, UART_FLAG_TxFIFOFull) == RESET)) |
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375 | { |
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376 | tmp_tx = UART0_tx_buffer.pData[UART0_tx_buffer.Position++]; // read next byte from txd buffer |
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377 | UART_SendData(UART0, tmp_tx); // put character to txd fifo |
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378 | // if terminating character or end of txd buffer reached |
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664 | holgerb | 379 | // if((tmp_tx == '\r') || (UART0_tx_buffer.Position == UART0_tx_buffer.Size)) |
380 | if((UART0_tx_buffer.Position == UART0_tx_buffer.DataBytes) || (UART0_tx_buffer.Position == UART0_tx_buffer.Size)) |
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110 | killagreg | 381 | { |
112 | killagreg | 382 | Buffer_Clear(&UART0_tx_buffer); |
110 | killagreg | 383 | } |
384 | } |
||
385 | } |
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386 | |||
387 | |||
388 | /**************************************************************/ |
||
389 | /* Send the answers to incomming commands at the uart0 */ |
||
390 | /**************************************************************/ |
||
391 | void UART0_TransmitTxData(void) |
||
392 | { |
||
393 | if(DebugUART == UART0) return; |
||
394 | UART0_Transmit(); // output pending bytes in tx buffer |
||
395 | if(UART0_tx_buffer.Locked == TRUE) return; |
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396 | |||
151 | killagreg | 397 | else if(UART0_Request_ErrorMessage && (UART0_tx_buffer.Locked == FALSE)) |
117 | killagreg | 398 | { |
399 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
||
400 | UART0_Request_ErrorMessage = FALSE; |
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401 | } |
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151 | killagreg | 402 | else if(UART0_Request_VersionInfo && (UART0_tx_buffer.Locked == FALSE)) |
116 | killagreg | 403 | { |
404 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
||
405 | UART0_Request_VersionInfo = FALSE; |
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406 | } |
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151 | killagreg | 407 | else if(( ((UART0_NaviData_Interval >0) && CheckDelay(UART0_NaviData_Timer) ) || UART0_Request_NaviData) && (UART0_tx_buffer.Locked == FALSE)) |
110 | killagreg | 408 | { |
409 | NaviData.Errorcode = ErrorCode; |
||
410 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
||
411 | UART0_NaviData_Timer = SetDelay(UART0_NaviData_Interval); |
||
412 | UART0_Request_NaviData = FALSE; |
||
413 | } |
||
414 | UART0_Transmit(); // output pending bytes in tx buffer |
||
415 | } |
||
116 | killagreg | 416 | |
417 | |||
418 | /**************************************************************/ |
||
419 | /* Get the version of the MKOSD */ |
||
420 | /**************************************************************/ |
||
247 | killagreg | 421 | u8 UART0_GetMKOSDVersion(void) |
116 | killagreg | 422 | { |
423 | u32 timeout; |
||
424 | u8 msg[64]; |
||
247 | killagreg | 425 | u8 retval = 0; |
116 | killagreg | 426 | |
427 | MKOSD_VersionInfo.SWMajor = 0xFF; |
||
428 | MKOSD_VersionInfo.SWMinor = 0xFF; |
||
429 | MKOSD_VersionInfo.SWPatch = 0xFF; |
||
430 | |||
245 | killagreg | 431 | if(UART0_Muxer != UART0_MKGPS) UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
116 | killagreg | 432 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
433 | |||
434 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'v', MKOSD_ADDRESS, 0); // request for version info |
||
435 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
||
436 | |||
437 | timeout = SetDelay(500); |
||
438 | do |
||
439 | { |
||
440 | UART0_ProcessRxData(); |
||
441 | if(MKOSD_VersionInfo.SWMajor != 0xFF) break; |
||
442 | }while(!CheckDelay(timeout)); |
||
443 | |||
444 | if(MKOSD_VersionInfo.SWMajor != 0xFF) |
||
445 | { |
||
767 | holgerb | 446 | sprintf(msg, "\r\n MK-OSD V%d.%d%c", MKOSD_VersionInfo.SWMajor, MKOSD_VersionInfo.SWMinor, 'a'+MKOSD_VersionInfo.SWPatch); |
116 | killagreg | 447 | UART1_PutString(msg); |
247 | killagreg | 448 | retval = 1; |
116 | killagreg | 449 | } |
247 | killagreg | 450 | //else UART1_PutString("\n\r No version information from MK-OSD."); |
451 | return(retval); |
||
116 | killagreg | 452 | } |
245 | killagreg | 453 | |
454 | /**************************************************************/ |
||
247 | killagreg | 455 | /* Send a message to the UBLOX device */ |
245 | killagreg | 456 | /**************************************************************/ |
247 | killagreg | 457 | u8 UART0_UBXSendMsg(u8* pData, u16 Len) |
245 | killagreg | 458 | { |
459 | u8 retval = 0; |
||
460 | // check for connection to GPS |
||
461 | if(UART0_Muxer != UART0_MKGPS) return(retval); |
||
462 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
||
247 | killagreg | 463 | UBX_CreateMsg(&UART0_tx_buffer, pData, Len); // build ubx message frame |
245 | killagreg | 464 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
247 | killagreg | 465 | return(1); |
466 | } |
||
467 | |||
468 | /**************************************************************/ |
||
469 | /* Send a configuration message to the UBLOX device */ |
||
470 | /**************************************************************/ |
||
471 | u8 UART0_UBXSendCFGMsg(u8* pData, u16 Len) |
||
472 | { |
||
473 | u32 timeout; |
||
474 | u8 retval = 0; |
||
475 | // if data are not a CFG MSG |
||
476 | if(pData[0]!= UBX_CLASS_CFG) return(retval); |
||
477 | // prepare rx msg filter |
||
478 | UbxMsg.Hdr.Class = UBX_CLASS_ACK; |
||
479 | UbxMsg.Hdr.Id = 0xFF; |
||
480 | UbxMsg.Hdr.Length = 0; |
||
481 | UbxMsg.ClassMask = 0xFF; |
||
482 | UbxMsg.IdMask = 0x00; |
||
483 | UbxMsg.Status = INVALID; |
||
484 | UART0_UBXSendMsg(pData, Len); |
||
485 | // check for acknowledge msg |
||
486 | timeout = SetDelay(100); |
||
245 | killagreg | 487 | do |
488 | { |
||
247 | killagreg | 489 | if(UbxMsg.Status == NEWDATA) break; |
245 | killagreg | 490 | }while(!CheckDelay(timeout)); |
247 | killagreg | 491 | if(UbxMsg.Status == NEWDATA) |
492 | { // 2 bytes payload |
||
493 | if((UbxMsg.Data[0] == pData[0]) && (UbxMsg.Data[1] == pData[1]) && (UbxMsg.Hdr.Length == 2)) retval = UbxMsg.Hdr.Id; |
||
494 | } |
||
495 | UbxMsg.Status = INVALID; |
||
496 | return(retval); |
||
497 | } |
||
498 | |||
499 | /**************************************************************/ |
||
500 | /* Get Version Info from UBX Module */ |
||
501 | /**************************************************************/ |
||
502 | u8 UART0_GetUBXVersion(void) |
||
503 | { |
||
504 | u32 timeout; |
||
803 | holgerb | 505 | u8 msg[220]; |
247 | killagreg | 506 | u8 retval = 0xFF; |
507 | u8 ubxmsg[]={0x0A, 0x04, 0x00, 0x00}; //MON-VER |
||
508 | // prepare rx msg filter |
||
509 | UbxMsg.Hdr.Class = 0x0A; |
||
510 | UbxMsg.Hdr.Id = 0x04; |
||
511 | UbxMsg.Hdr.Length = 0; |
||
512 | UbxMsg.ClassMask = 0xFF; |
||
513 | UbxMsg.IdMask = 0xFF; |
||
514 | UbxMsg.Status = INVALID; |
||
515 | UART0_UBXSendMsg(ubxmsg, sizeof(ubxmsg)); |
||
516 | // check for answer |
||
517 | timeout = SetDelay(100); |
||
518 | do |
||
245 | killagreg | 519 | { |
247 | killagreg | 520 | if(UbxMsg.Status == NEWDATA) break; |
521 | }while(!CheckDelay(timeout)); |
||
522 | if((UbxMsg.Hdr.Length >= 40) && (UbxMsg.Status == NEWDATA)) |
||
523 | { |
||
701 | holgerb | 524 | retval = UbxVersionParser(); |
525 | if(retval != 0xff) |
||
526 | { |
||
803 | holgerb | 527 | /* |
528 | unsigned int i; |
||
529 | for(i=0;i< sizeof(UbxMsg.Data);i++) |
||
530 | { |
||
531 | if(UbxMsg.Data[i] == 0) UbxMsg.Data[i] = '°'; |
||
532 | } |
||
533 | //UbxMsg.Data[30] = 0; |
||
534 | UbxMsg.Data[sizeof(UbxMsg.Data)-1] = 0; |
||
535 | // UbxMsg.Data[4] = 0; //Only the first 4 characters |
||
536 | */ |
||
537 | |||
538 | sprintf(msg, " V%d.%d (%d) SW:%s", retval/10,retval%10, GPS_Version, (u8*)&UbxMsg.Data[0]); |
||
582 | holgerb | 539 | UART1_PutString(msg); |
803 | holgerb | 540 | sprintf(msg, "|%s|%s",(u8*)&UbxMsg.Data[40],(u8*)&UbxMsg.Data[40+30]); |
541 | UART1_PutString(msg); |
||
542 | |||
543 | if(UbxMsg.Data[40+60]) |
||
544 | { |
||
545 | sprintf(msg, "\n\r %s|%s|%s",(u8*)&UbxMsg.Data[40+60],(u8*)&UbxMsg.Data[40+90],(u8*)&UbxMsg.Data[40+120]); |
||
546 | UART1_PutString(msg); |
||
547 | } |
||
701 | holgerb | 548 | } |
549 | else UART1_PutString(" ! -> UNKNOWN <- ! "); |
||
245 | killagreg | 550 | } |
701 | holgerb | 551 | UbxMsg.Status = INVALID; |
552 | return(retval); |
||
245 | killagreg | 553 | } |
582 | holgerb | 554 | |
555 | |||
556 | |||
557 | |||
558 | |||
559 | |||
560 | |||
561 | |||
562 | |||
563 | |||
564 | |||
565 | |||
566 | |||
567 | |||
568 | |||
569 | |||
570 | |||
571 |