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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 56 | //#include <stdio.h> |
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| 57 | #include "91x_lib.h" |
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| 136 | killagreg | 58 | #include "config.h" |
| 41 | ingob | 59 | #include "uart1.h" |
| 190 | killagreg | 60 | #include "mkprotocol.h" |
| 41 | ingob | 61 | |
| 190 | killagreg | 62 | // the tx buffer |
| 63 | #define UART2_TX_BUFFER_LEN 150 |
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| 64 | u8 UART2_tbuffer[UART2_TX_BUFFER_LEN]; |
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| 65 | Buffer_t UART2_tx_buffer; |
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| 66 | |||
| 880 | holgerb | 67 | unsigned char NMEA_In_Lat_Txt[16]; |
| 68 | unsigned char NMEA_In_Lon_Txt[16]; |
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| 69 | unsigned char NMEA_In_Alt_Txt[10]; |
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| 70 | unsigned char NMEA_In_Fix_Txt[10]; |
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| 71 | u16 NMEA_cnt,NMEA_cnt_gga; |
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| 72 | |||
| 73 | |||
| 41 | ingob | 74 | /********************************************************/ |
| 75 | /* Initialize UART2 */ |
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| 76 | /********************************************************/ |
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| 77 | void UART2_Init(void) |
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| 78 | { |
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| 79 | UART_InitTypeDef UART_InitStructure; |
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| 80 | GPIO_InitTypeDef GPIO_InitStructure; |
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| 81 | |||
| 580 | holgerb | 82 | // UART1_PutString("\r\n UART2 init..."); |
| 41 | ingob | 83 | |
| 190 | killagreg | 84 | // initialize txd buffer |
| 85 | Buffer_Init(&UART2_tx_buffer, UART2_tbuffer, UART2_TX_BUFFER_LEN); |
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| 86 | |||
| 41 | ingob | 87 | SCU_APBPeriphClockConfig(__UART2, ENABLE); // Enable the UART2 Clock |
| 88 | |||
| 89 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); // Enable the GPIO5 Clock |
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| 90 | /*Configure UART2_Rx pin GPIO5.2*/ |
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| 91 | GPIO_StructInit(&GPIO_InitStructure); |
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| 92 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 93 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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| 94 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 196 | killagreg | 95 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
| 41 | ingob | 96 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART2_RxD |
| 97 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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| 98 | |||
| 99 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
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| 100 | /*Configure UART2_Tx pin GPIO3.0*/ |
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| 101 | GPIO_StructInit(&GPIO_InitStructure); |
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| 102 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 103 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
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| 104 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 105 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART2_TX |
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| 106 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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| 107 | |||
| 108 | |||
| 109 | /* UART2 configured as follow: |
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| 110 | - Word Length = 8 Bits |
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| 111 | - One Stop Bit |
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| 112 | - No parity |
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| 113 | - BaudRate = 57600 baud |
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| 114 | - Hardware flow control Disabled |
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| 115 | - Receive and transmit enabled |
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| 116 | - Receive and transmit FIFOs are Disabled |
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| 117 | */ |
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| 118 | UART_StructInit(&UART_InitStructure); |
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| 119 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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| 120 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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| 121 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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| 110 | killagreg | 122 | UART_InitStructure.UART_BaudRate = UART2_BAUD_RATE; |
| 41 | ingob | 123 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
| 124 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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| 125 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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| 126 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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| 139 | killagreg | 127 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
| 41 | ingob | 128 | |
| 129 | UART_DeInit(UART2); // reset uart 2 to default |
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| 130 | UART_Init(UART2, &UART_InitStructure); // initialize uart 2 |
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| 131 | |||
| 132 | // enable uart 2 interrupts selective |
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| 133 | UART_ITConfig(UART2, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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| 134 | UART_Cmd(UART2, ENABLE); // enable uart 2 |
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| 136 | killagreg | 135 | // configure the uart 2 interupt line |
| 136 | VIC_Config(UART2_ITLine, VIC_IRQ, PRIORITY_UART2); |
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| 41 | ingob | 137 | // enable the uart 2 IRQ |
| 138 | VIC_ITCmd(UART2_ITLine, ENABLE); |
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| 139 | |||
| 580 | holgerb | 140 | // UART1_PutString("ok"); |
| 41 | ingob | 141 | } |
| 142 | |||
| 143 | |||
| 144 | void UART2_Deinit(void) |
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| 145 | { |
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| 146 | GPIO_InitTypeDef GPIO_InitStructure; |
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| 147 | |||
| 110 | killagreg | 148 | UART1_PutString("\r\n UART2 deinit..."); |
| 41 | ingob | 149 | VIC_ITCmd(UART2_ITLine, DISABLE); // disable the uart 2 IRQ |
| 150 | UART_Cmd(UART2, DISABLE); // disable uart 2 |
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| 151 | UART_DeInit(UART2); // reset uart 0 to default |
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| 152 | |||
| 153 | SCU_APBPeriphClockConfig(__UART2, DISABLE); // disable the UART2 Clock |
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| 154 | |||
| 155 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
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| 156 | // unmap UART2 from FC |
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| 157 | // set port pin 5.2 (serial data from FC) to input and disconnect from IP |
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| 158 | GPIO_StructInit(&GPIO_InitStructure); |
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| 159 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 160 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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| 161 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 196 | killagreg | 162 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
| 41 | ingob | 163 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| 164 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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| 165 | |||
| 166 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); |
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| 167 | // set port pin 3.0 (serial data to FC) to input and disconnect from IP |
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| 168 | GPIO_StructInit(&GPIO_InitStructure); |
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| 169 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 170 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
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| 171 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 196 | killagreg | 172 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
| 41 | ingob | 173 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| 174 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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| 175 | |||
| 110 | killagreg | 176 | UART1_PutString("ok"); |
| 41 | ingob | 177 | } |
| 178 | |||
| 880 | holgerb | 179 | |
| 180 | void NEMA_Parser(unsigned char data) |
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| 181 | { |
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| 182 | static u16 state = 0, fx,la,lo,i,a; |
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| 183 | if(data == '$') state = 0; |
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| 184 | static u32 latitude; |
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| 185 | static unsigned char lat_txt[16], lon_txt[16],fix_txt[10],alt_txt[10]; |
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| 186 | |||
| 187 | //$GPGGA,HHMMSS.ss,BBBB.BBBB,b,LLLLL.LLLL,l,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*PP |
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| 188 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
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| 189 | //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
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| 190 | //$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP |
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| 191 | //http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm |
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| 192 | switch(state) |
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| 193 | { |
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| 194 | case 0: if(data == '$') state++;// $ |
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| 195 | fx = 0; |
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| 196 | la = 1; |
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| 197 | lo = 1; |
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| 198 | fix_txt[0] = 0; |
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| 199 | lat_txt[0] = 0;lon_txt[0] = 0;alt_txt[0] = 0; |
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| 200 | break; |
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| 201 | case 1: if(data == 'G') state++;// $G |
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| 202 | break; |
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| 203 | case 2: if(data == 'P') state++;// $GP |
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| 204 | NMEA_cnt = 3; |
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| 205 | break; |
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| 206 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 207 | case 3: if(data == 'R') state++;// $GPR |
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| 208 | if(data == 'G') state = 6;// $GPG |
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| 209 | break; |
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| 210 | case 4: if(data == 'M') state++;// $GPRM |
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| 211 | break; |
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| 212 | case 5: if(data == 'C') state = 100;// $GPRMC |
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| 213 | break; |
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| 214 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 215 | case 6: if(data == 'G') state++;// $GPGG |
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| 216 | break; |
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| 217 | case 7: if(data == 'A') state = 200;// $GPGGA |
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| 218 | break; |
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| 219 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 220 | // $GPRMC (RMC = recommended minimum sentence C, empfohlener Minimumdatensatz) |
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| 221 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 222 | /* |
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| 223 | case 100: if(data == ',') state++; // $GPRMC, |
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| 224 | NMEA_cnt_rmc %= 1000; |
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| 225 | NMEA_cnt_rmc++; |
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| 226 | break; |
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| 227 | case 101: if(data == ',') state = 110; // $GPRMC,162614.123, // time scipped |
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| 228 | break; |
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| 229 | case 110: if(data == ',') state++; |
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| 230 | else fix_txt[0] = data; // $GPRMC,162614.123,A A = Active V = Void |
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| 231 | break; |
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| 232 | case 111: if(data == ',') state++; // / $GPRMC,162614.123,A, |
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| 233 | break; |
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| 234 | case 112: if(data == ',') state++; // $GPRMC,162614.123,A,5317.123456789 Latitude |
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| 235 | else |
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| 236 | { |
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| 237 | if(la < 16) lat_txt[la++] = data; |
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| 238 | lat_txt[la] = 0; |
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| 239 | } |
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| 240 | break; |
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| 241 | case 113: if(data == ',') state++; //$GPRMC,162614.123,A,5230.5900,N, |
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| 242 | if(data == 'N') lat_txt[0] = '+'; |
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| 243 | if(data == 'S') lat_txt[0] = '-'; |
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| 244 | break; |
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| 245 | case 114: if(data == ',') state++; //$GPRMC,162614.123,A,5230.5900,N,00722.123456789 |
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| 246 | else |
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| 247 | { |
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| 248 | if(lo < 16) lon_txt[lo++] = data; |
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| 249 | lon_txt[lo] = 0; |
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| 250 | } |
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| 251 | break; |
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| 252 | case 115: if(data == ',') state++; //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E, |
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| 253 | if(data == 'O') lon_txt[0] = '+'; |
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| 254 | if(data == 'E') lon_txt[0] = '+'; |
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| 255 | if(data == 'W') lon_txt[0] = '-'; |
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| 256 | break; |
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| 257 | case 116: if(data == ',') state++; //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0, |
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| 258 | break; |
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| 259 | case 117: if(data == ',') state++; //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0, |
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| 260 | break; |
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| 261 | case 118: if(data == ',') state++; //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006, |
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| 262 | break; |
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| 263 | case 119: |
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| 264 | if(data == ',') |
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| 265 | { |
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| 266 | state++; //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2, |
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| 267 | NMEA_In_Lat_Txt[0] = lat_txt[0]; |
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| 268 | NMEA_In_Lat_Txt[1] = lat_txt[1]; |
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| 269 | NMEA_In_Lat_Txt[2] = lat_txt[2]; |
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| 270 | NMEA_In_Lat_Txt[3] = '.'; |
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| 271 | NMEA_In_Lat_Txt[4] = lat_txt[3]; |
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| 272 | NMEA_In_Lat_Txt[5] = lat_txt[4]; |
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| 273 | for(i=5; i<16; i++) |
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| 274 | { |
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| 275 | if(lat_txt[i] == '.') i++; |
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| 276 | NMEA_In_Lat_Txt[i] = lat_txt[i]; |
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| 277 | } |
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| 278 | NMEA_In_Lon_Txt[0] = lon_txt[0]; |
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| 279 | NMEA_In_Lon_Txt[1] = lon_txt[1]; |
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| 280 | NMEA_In_Lon_Txt[2] = lon_txt[2]; |
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| 281 | NMEA_In_Lon_Txt[3] = lon_txt[3]; |
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| 282 | NMEA_In_Lon_Txt[4] = '.'; |
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| 283 | NMEA_In_Lon_Txt[5] = lon_txt[4]; |
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| 284 | NMEA_In_Lon_Txt[6] = lon_txt[5]; |
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| 285 | for(i=5; i<16; i++) |
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| 286 | { |
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| 287 | if(lon_txt[i] == '.') i++; |
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| 288 | NMEA_In_Lon_Txt[i] = lon_txt[i]; |
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| 289 | } |
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| 290 | } |
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| 291 | break; |
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| 292 | case 120: if(data == ',') state++; //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E, |
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| 293 | break; |
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| 294 | case 121: state = 0; //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
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| 295 | fix_txt[1] = data; |
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| 296 | fix_txt[2] = 0; |
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| 297 | NMEA_In_Fix_Txt[0] = fix_txt[0]; |
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| 298 | NMEA_In_Fix_Txt[1] = fix_txt[1]; |
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| 299 | break; |
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| 300 | */ |
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| 301 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 302 | // $GPGGA |
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| 303 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 304 | case 200: if(data == ',') state++; //$GPGGA, |
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| 305 | NMEA_cnt_gga %= 1000; |
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| 306 | NMEA_cnt_gga++; |
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| 307 | break; |
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| 308 | case 201: if(data == ',') state = 212; //$GPGGA,191410 // time scipped |
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| 309 | break; |
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| 310 | case 212: if(data == ',') state++; //$GPGGA,191410,4735.5634 Latitude |
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| 311 | else |
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| 312 | { |
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| 313 | if(la < 16) lat_txt[la++] = data; |
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| 314 | lat_txt[la] = 0; |
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| 315 | } |
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| 316 | break; |
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| 317 | case 213: if(data == ',') state++; //$GPGGA,191410,4735.5634,N |
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| 318 | if(data == 'N') lat_txt[0] = '+'; |
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| 319 | if(data == 'S') lat_txt[0] = '-'; |
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| 320 | break; |
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| 321 | case 214: if(data == ',') state++; //$GPGGA,191410,4735.5634,N,00739.3538 |
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| 322 | else |
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| 323 | { |
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| 324 | if(lo < 16) lon_txt[lo++] = data; |
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| 325 | lon_txt[lo] = 0; |
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| 326 | } |
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| 327 | break; |
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| 328 | case 215: if(data == ',') state++; //$GPGGA,191410,4735.5634,N,00739.3538,E |
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| 329 | if(data == 'O') lon_txt[0] = '+'; |
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| 330 | if(data == 'E') lon_txt[0] = '+'; |
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| 331 | if(data == 'W') lon_txt[0] = '-'; |
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| 332 | i = 0; a = 0; |
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| 333 | break; |
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| 334 | case 216: //$GPGGA,191410,4735.5634,N,00739.3538,E,1 -> 0 = No Fix, 1, = Fix, 2 = DGPS, ... |
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| 335 | case 217: //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04 -> Anzahl Sat |
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| 336 | case 218: //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4 HDOP |
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| 337 | if(data == ',') |
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| 338 | { |
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| 339 | if(++state != 219) // letztes Leerzeiten entfernen |
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| 340 | fix_txt[i++] = ' '; // komma durch leerzeichen ersetzten |
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| 341 | } |
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| 342 | else if(i < 9) fix_txt[i++] = data; |
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| 343 | fix_txt[i] = 0; |
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| 344 | break; |
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| 345 | case 219: if(data == ',') state++; //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5 |
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| 346 | else if(a < 9) alt_txt[a++] = data; |
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| 347 | fix_txt[i] = 0; |
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| 348 | break; |
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| 349 | case 220: |
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| 350 | if(data == ',') |
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| 351 | { |
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| 352 | state++; //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M |
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| 353 | NMEA_In_Lat_Txt[0] = lat_txt[0]; |
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| 354 | NMEA_In_Lat_Txt[1] = lat_txt[1]; |
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| 355 | NMEA_In_Lat_Txt[2] = lat_txt[2]; |
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| 356 | NMEA_In_Lat_Txt[3] = '.'; |
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| 357 | NMEA_In_Lat_Txt[4] = lat_txt[3]; |
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| 358 | NMEA_In_Lat_Txt[5] = lat_txt[4]; |
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| 359 | for(i=5; i<16; i++) |
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| 360 | { |
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| 361 | if(lat_txt[i] == '.') i++; |
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| 362 | NMEA_In_Lat_Txt[i] = lat_txt[i]; |
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| 363 | } |
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| 364 | NMEA_In_Lon_Txt[0] = lon_txt[0]; |
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| 365 | NMEA_In_Lon_Txt[1] = lon_txt[1]; |
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| 366 | NMEA_In_Lon_Txt[2] = lon_txt[2]; |
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| 367 | NMEA_In_Lon_Txt[3] = lon_txt[3]; |
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| 368 | NMEA_In_Lon_Txt[4] = '.'; |
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| 369 | NMEA_In_Lon_Txt[5] = lon_txt[4]; |
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| 370 | NMEA_In_Lon_Txt[6] = lon_txt[5]; |
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| 371 | for(i=6; i<16; i++) |
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| 372 | { |
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| 373 | if(lon_txt[i] == '.') i++; |
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| 374 | NMEA_In_Lon_Txt[i] = lon_txt[i]; |
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| 375 | } |
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| 376 | } |
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| 377 | for(i=0; i<10; i++) |
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| 378 | { |
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| 379 | NMEA_In_Alt_Txt[i] = alt_txt[i]; |
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| 380 | NMEA_In_Fix_Txt[i] = fix_txt[i]; |
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| 381 | } |
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| 382 | break; |
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| 383 | default: state = 0; |
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| 384 | } |
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| 385 | } |
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| 386 | |||
| 387 | |||
| 41 | ingob | 388 | /********************************************************/ |
| 389 | /* UART2 Interrupt Handler */ |
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| 390 | /********************************************************/ |
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| 391 | void UART2_IRQHandler(void) |
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| 392 | { |
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| 393 | // if receive irq or receive timeout irq has occured |
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| 394 | if((UART_GetITStatus(UART2, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART2, UART_IT_ReceiveTimeOut) != RESET) ) |
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| 395 | { |
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| 396 | UART_ClearITPendingBit(UART2, UART_IT_Receive); // clear receive interrupt flag |
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| 397 | UART_ClearITPendingBit(UART2, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
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| 398 | |||
| 399 | // if debug UART is UART2 |
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| 400 | if (DebugUART == UART2) |
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| 401 | { // forward received data to the UART1 tx buffer |
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| 402 | while(UART_GetFlagStatus(UART2, UART_FLAG_RxFIFOEmpty) != SET) |
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| 403 | { |
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| 404 | // wait for space in the tx buffer of the UART1 |
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| 405 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {}; |
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| 406 | // move the byte from the rx buffer of UART2 to the tx buffer of UART1 |
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| 880 | holgerb | 407 | if(UART_VersionInfo.HWMajor < 30) UART_SendData(UART1, UART_ReceiveData(UART2)); |
| 408 | else UART_ReceiveData(UART2); |
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| 41 | ingob | 409 | } |
| 410 | } |
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| 411 | else |
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| 412 | { |
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| 413 | // ignore serial data from the FC |
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| 414 | while(UART_GetFlagStatus(UART2, UART_FLAG_RxFIFOEmpty) != SET) |
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| 190 | killagreg | 415 | { |
| 880 | holgerb | 416 | unsigned char c; |
| 417 | c = UART_ReceiveData(UART2); |
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| 418 | if(UART_VersionInfo.HWMajor >= 30) NEMA_Parser(c); |
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| 190 | killagreg | 419 | } |
| 41 | ingob | 420 | } |
| 421 | } // eof receive irq or receive timeout irq |
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| 195 | killagreg | 422 | |
| 380 | holgerb | 423 | |
| 378 | holgerb | 424 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
| 41 | ingob | 425 | } |
| 190 | killagreg | 426 | |
| 427 | /**************************************************************/ |
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| 428 | /* Transmit tx buffer via uart2 */ |
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| 429 | /**************************************************************/ |
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| 430 | void UART2_Transmit(void) |
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| 431 | { |
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| 432 | u8 tmp_tx; |
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| 433 | if(DebugUART == UART2) return; // no data output if debug uart is rederected to UART2 |
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| 434 | // if something has to be send and the txd fifo is not full |
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| 435 | if((UART2_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART2, UART_FLAG_TxFIFOFull) == RESET)) |
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| 436 | { |
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| 437 | tmp_tx = UART2_tx_buffer.pData[UART2_tx_buffer.Position++]; // read next byte from txd buffer |
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| 438 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
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| 439 | // if terminating character or end of txd buffer reached |
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| 440 | if((tmp_tx == '\r') || (UART2_tx_buffer.Position == UART2_tx_buffer.Size)) |
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| 441 | { |
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| 442 | Buffer_Clear(&UART2_tx_buffer); |
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| 443 | } |
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| 444 | } |
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| 445 | } |
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| 446 | |||
| 447 | /**************************************************************/ |
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| 448 | /* Send the answers to incomming commands at the uart2 */ |
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| 449 | /**************************************************************/ |
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| 450 | void UART2_TransmitTxData(void) |
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| 451 | { |
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| 452 | if(DebugUART == UART2) return; |
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| 453 | UART2_Transmit(); // output pending bytes in tx buffer |
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| 454 | } |
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| 455 | |||
| 456 | |||
| 457 | void UART2_ProcessRxData(void) |
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| 458 | { |
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| 459 | |||
| 460 | } |