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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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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" |
881 | holgerb | 61 | #include "gpspos.h" |
62 | #include "main.h" |
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41 | ingob | 63 | |
190 | killagreg | 64 | // the tx buffer |
65 | #define UART2_TX_BUFFER_LEN 150 |
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66 | u8 UART2_tbuffer[UART2_TX_BUFFER_LEN]; |
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67 | Buffer_t UART2_tx_buffer; |
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68 | |||
880 | holgerb | 69 | unsigned char NMEA_In_Lat_Txt[16]; |
70 | unsigned char NMEA_In_Lon_Txt[16]; |
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71 | unsigned char NMEA_In_Alt_Txt[10]; |
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72 | unsigned char NMEA_In_Fix_Txt[10]; |
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73 | u16 NMEA_cnt,NMEA_cnt_gga; |
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74 | |||
881 | holgerb | 75 | GPS_Pos_t NMEA_Position = {0,0,0, INVALID}; |
880 | holgerb | 76 | |
41 | ingob | 77 | /********************************************************/ |
78 | /* Initialize UART2 */ |
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79 | /********************************************************/ |
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80 | void UART2_Init(void) |
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81 | { |
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82 | UART_InitTypeDef UART_InitStructure; |
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83 | GPIO_InitTypeDef GPIO_InitStructure; |
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84 | |||
580 | holgerb | 85 | // UART1_PutString("\r\n UART2 init..."); |
41 | ingob | 86 | |
190 | killagreg | 87 | // initialize txd buffer |
88 | Buffer_Init(&UART2_tx_buffer, UART2_tbuffer, UART2_TX_BUFFER_LEN); |
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89 | |||
41 | ingob | 90 | SCU_APBPeriphClockConfig(__UART2, ENABLE); // Enable the UART2 Clock |
91 | |||
92 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); // Enable the GPIO5 Clock |
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93 | /*Configure UART2_Rx pin GPIO5.2*/ |
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94 | GPIO_StructInit(&GPIO_InitStructure); |
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95 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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96 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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97 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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196 | killagreg | 98 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
41 | ingob | 99 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART2_RxD |
100 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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101 | |||
102 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
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103 | /*Configure UART2_Tx pin GPIO3.0*/ |
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104 | GPIO_StructInit(&GPIO_InitStructure); |
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105 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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106 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
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107 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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108 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART2_TX |
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109 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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110 | |||
111 | |||
112 | /* UART2 configured as follow: |
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113 | - Word Length = 8 Bits |
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114 | - One Stop Bit |
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115 | - No parity |
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116 | - BaudRate = 57600 baud |
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117 | - Hardware flow control Disabled |
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118 | - Receive and transmit enabled |
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119 | - Receive and transmit FIFOs are Disabled |
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120 | */ |
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121 | UART_StructInit(&UART_InitStructure); |
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122 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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123 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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124 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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110 | killagreg | 125 | UART_InitStructure.UART_BaudRate = UART2_BAUD_RATE; |
41 | ingob | 126 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
127 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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128 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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129 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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139 | killagreg | 130 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
41 | ingob | 131 | |
132 | UART_DeInit(UART2); // reset uart 2 to default |
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133 | UART_Init(UART2, &UART_InitStructure); // initialize uart 2 |
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134 | |||
135 | // enable uart 2 interrupts selective |
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136 | UART_ITConfig(UART2, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
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137 | UART_Cmd(UART2, ENABLE); // enable uart 2 |
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136 | killagreg | 138 | // configure the uart 2 interupt line |
139 | VIC_Config(UART2_ITLine, VIC_IRQ, PRIORITY_UART2); |
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41 | ingob | 140 | // enable the uart 2 IRQ |
141 | VIC_ITCmd(UART2_ITLine, ENABLE); |
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142 | |||
580 | holgerb | 143 | // UART1_PutString("ok"); |
41 | ingob | 144 | } |
145 | |||
146 | |||
147 | void UART2_Deinit(void) |
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148 | { |
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149 | GPIO_InitTypeDef GPIO_InitStructure; |
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150 | |||
110 | killagreg | 151 | UART1_PutString("\r\n UART2 deinit..."); |
41 | ingob | 152 | VIC_ITCmd(UART2_ITLine, DISABLE); // disable the uart 2 IRQ |
153 | UART_Cmd(UART2, DISABLE); // disable uart 2 |
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154 | UART_DeInit(UART2); // reset uart 0 to default |
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155 | |||
156 | SCU_APBPeriphClockConfig(__UART2, DISABLE); // disable the UART2 Clock |
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157 | |||
158 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
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159 | // unmap UART2 from FC |
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160 | // set port pin 5.2 (serial data from FC) to input and disconnect from IP |
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161 | GPIO_StructInit(&GPIO_InitStructure); |
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162 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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163 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
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164 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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196 | killagreg | 165 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
41 | ingob | 166 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
167 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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168 | |||
169 | SCU_APBPeriphClockConfig(__GPIO3, ENABLE); |
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170 | // set port pin 3.0 (serial data to FC) to input and disconnect from IP |
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171 | GPIO_StructInit(&GPIO_InitStructure); |
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172 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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173 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
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174 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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196 | killagreg | 175 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
41 | ingob | 176 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
177 | GPIO_Init(GPIO3, &GPIO_InitStructure); |
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178 | |||
110 | killagreg | 179 | UART1_PutString("ok"); |
41 | ingob | 180 | } |
181 | |||
880 | holgerb | 182 | |
881 | holgerb | 183 | u8 CheckAscii(u8 c) |
184 | { |
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185 | if((c >= '0' && c <= '9') || c == '.') return(1); |
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186 | return(0); |
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187 | } |
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188 | |||
189 | u8 CheckNmea(void) |
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190 | { |
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191 | u8 i; |
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192 | if(NMEA_In_Fix_Txt[0] <= '0') return(0); |
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193 | if(NMEA_In_Lat_Txt[0] == 0) return(0); |
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194 | if(NMEA_In_Lon_Txt[0] == 0) return(0); |
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195 | if(NMEA_In_Lat_Txt[3] != '.') return(0); |
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196 | if(NMEA_In_Lon_Txt[4] != '.') return(0); |
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197 | for(i = 1; i < 13; i++) |
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198 | { |
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199 | if(!CheckAscii(NMEA_In_Lat_Txt[i])) return(0); |
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200 | if(!CheckAscii(NMEA_In_Lon_Txt[i])) return(0); |
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201 | } |
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202 | return(1); |
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203 | } |
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204 | |||
205 | u8 AsciiToNum(u8 c) |
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206 | { |
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207 | if(c == '.') return(0); |
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208 | return(c - '0'); |
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209 | } |
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210 | |||
211 | void ConvertNmeaToPos(GPS_Pos_t *pos) |
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212 | { |
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213 | s32 tmp,tmp2,i; |
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214 | if(!CheckNmea()) |
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215 | { |
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216 | if(NMEA_Position.Status != INVALID) ErrorNMEAFixLost = 1; |
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217 | pos->Status = INVALID; |
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218 | return; |
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219 | } |
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220 | |||
221 | tmp = AsciiToNum(NMEA_In_Lat_Txt[1]) * 100000000L; |
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222 | tmp += AsciiToNum(NMEA_In_Lat_Txt[2]) * 10000000L; |
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223 | // '.' |
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224 | tmp2 = AsciiToNum(NMEA_In_Lat_Txt[4]) * 10000000L; |
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225 | tmp2 += AsciiToNum(NMEA_In_Lat_Txt[5]) * 1000000L; |
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226 | tmp2 += AsciiToNum(NMEA_In_Lat_Txt[6]) * 100000L; |
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227 | tmp2 += AsciiToNum(NMEA_In_Lat_Txt[7]) * 10000L; |
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228 | tmp2 += AsciiToNum(NMEA_In_Lat_Txt[8]) * 1000L; |
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229 | tmp2 += AsciiToNum(NMEA_In_Lat_Txt[9]) * 100L; |
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230 | tmp2 += AsciiToNum(NMEA_In_Lat_Txt[10]) * 10L; |
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231 | tmp2 += AsciiToNum(NMEA_In_Lat_Txt[11]) * 1L; |
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232 | |||
233 | tmp = tmp + tmp2/6; // to convert from Minutes to Decimal degree |
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234 | if(NMEA_In_Lat_Txt[0] == '-') pos->Latitude = -tmp; else pos->Latitude = tmp; |
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235 | |||
236 | tmp = AsciiToNum(NMEA_In_Lon_Txt[1]) * 1000000000L; |
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237 | tmp += AsciiToNum(NMEA_In_Lon_Txt[2]) * 100000000L; |
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238 | tmp += AsciiToNum(NMEA_In_Lon_Txt[3]) * 10000000L; |
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239 | // '.' |
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240 | tmp2 = AsciiToNum(NMEA_In_Lon_Txt[5]) * 10000000L; |
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241 | tmp2 += AsciiToNum(NMEA_In_Lon_Txt[6]) * 1000000L; |
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242 | tmp2 += AsciiToNum(NMEA_In_Lon_Txt[7]) * 100000L; |
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243 | tmp2 += AsciiToNum(NMEA_In_Lon_Txt[8]) * 10000L; |
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244 | tmp2 += AsciiToNum(NMEA_In_Lon_Txt[9]) * 1000L; |
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245 | tmp2 += AsciiToNum(NMEA_In_Lon_Txt[10]) * 100L; |
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246 | tmp2 += AsciiToNum(NMEA_In_Lon_Txt[11]) * 10L; |
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247 | tmp2 += AsciiToNum(NMEA_In_Lon_Txt[12]) * 1L; |
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248 | |||
249 | tmp = tmp + tmp2/6; // to convert from Minutes to Decimal degree |
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250 | if(NMEA_In_Lon_Txt[0] == '-') pos->Longitude = -tmp; else pos->Longitude = tmp; |
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251 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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252 | // + Alitutude |
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253 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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254 | i = 0; |
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255 | tmp2 = 1000; // Millimeter |
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256 | tmp = 0; |
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257 | if(!CheckAscii(NMEA_In_Alt_Txt[0])) i++; // '-' |
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258 | while(CheckAscii(NMEA_In_Alt_Txt[i]) && NMEA_In_Alt_Txt[i] != '.') |
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259 | { |
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260 | tmp += tmp2 * AsciiToNum(NMEA_In_Alt_Txt[i++]); |
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261 | tmp2 *= 10; |
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262 | } |
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263 | if(NMEA_In_Alt_Txt[i++] == '.') // Zentimeter |
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264 | { |
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265 | if(CheckAscii(NMEA_In_Alt_Txt[i])) |
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266 | { |
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267 | tmp +=100 * AsciiToNum(NMEA_In_Alt_Txt[i++]); |
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268 | if(CheckAscii(NMEA_In_Alt_Txt[i])) |
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269 | { |
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270 | tmp += 10 * AsciiToNum(NMEA_In_Alt_Txt[i++]); |
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271 | if(CheckAscii(NMEA_In_Alt_Txt[i])) tmp += 1 * AsciiToNum(NMEA_In_Alt_Txt[i++]); |
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272 | } |
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273 | } |
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274 | } |
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275 | if(NMEA_In_Alt_Txt[0] == '-') tmp = -tmp; |
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276 | pos->Altitude = tmp; |
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277 | pos->Status = NEWDATA; |
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278 | } |
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279 | |||
280 | |||
880 | holgerb | 281 | void NEMA_Parser(unsigned char data) |
282 | { |
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283 | static u16 state = 0, fx,la,lo,i,a; |
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284 | if(data == '$') state = 0; |
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285 | static unsigned char lat_txt[16], lon_txt[16],fix_txt[10],alt_txt[10]; |
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286 | |||
287 | //$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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288 | //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M,48.0,M,,*45 |
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289 | //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
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290 | //$GPRMC,HHMMSS.sss,A,BBBB.BBBB,b,LLLLL.LLLL,l,GG.G,RR.R,DDMMYY,M.M,m,F*PP |
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291 | //http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm |
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292 | switch(state) |
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293 | { |
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294 | case 0: if(data == '$') state++;// $ |
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295 | fx = 0; |
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296 | la = 1; |
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297 | lo = 1; |
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298 | fix_txt[0] = 0; |
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299 | lat_txt[0] = 0;lon_txt[0] = 0;alt_txt[0] = 0; |
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300 | break; |
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301 | case 1: if(data == 'G') state++;// $G |
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302 | break; |
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303 | case 2: if(data == 'P') state++;// $GP |
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304 | NMEA_cnt = 3; |
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305 | break; |
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306 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
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307 | case 3: if(data == 'R') state++;// $GPR |
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308 | if(data == 'G') state = 6;// $GPG |
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309 | break; |
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310 | case 4: if(data == 'M') state++;// $GPRM |
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311 | break; |
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312 | case 5: if(data == 'C') state = 100;// $GPRMC |
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313 | break; |
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314 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
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315 | case 6: if(data == 'G') state++;// $GPGG |
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316 | break; |
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317 | case 7: if(data == 'A') state = 200;// $GPGGA |
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318 | break; |
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319 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
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320 | // $GPRMC (RMC = recommended minimum sentence C, empfohlener Minimumdatensatz) |
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321 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
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322 | /* |
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323 | case 100: if(data == ',') state++; // $GPRMC, |
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324 | NMEA_cnt_rmc %= 1000; |
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325 | NMEA_cnt_rmc++; |
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326 | break; |
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327 | case 101: if(data == ',') state = 110; // $GPRMC,162614.123, // time scipped |
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328 | break; |
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329 | case 110: if(data == ',') state++; |
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330 | else fix_txt[0] = data; // $GPRMC,162614.123,A A = Active V = Void |
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331 | break; |
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332 | case 111: if(data == ',') state++; // / $GPRMC,162614.123,A, |
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333 | break; |
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334 | case 112: if(data == ',') state++; // $GPRMC,162614.123,A,5317.123456789 Latitude |
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335 | else |
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336 | { |
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337 | if(la < 16) lat_txt[la++] = data; |
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338 | lat_txt[la] = 0; |
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339 | } |
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340 | break; |
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341 | case 113: if(data == ',') state++; //$GPRMC,162614.123,A,5230.5900,N, |
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342 | if(data == 'N') lat_txt[0] = '+'; |
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343 | if(data == 'S') lat_txt[0] = '-'; |
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344 | break; |
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345 | case 114: if(data == ',') state++; //$GPRMC,162614.123,A,5230.5900,N,00722.123456789 |
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346 | else |
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347 | { |
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348 | if(lo < 16) lon_txt[lo++] = data; |
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349 | lon_txt[lo] = 0; |
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350 | } |
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351 | break; |
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352 | case 115: if(data == ',') state++; //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E, |
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353 | if(data == 'O') lon_txt[0] = '+'; |
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354 | if(data == 'E') lon_txt[0] = '+'; |
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355 | if(data == 'W') lon_txt[0] = '-'; |
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356 | break; |
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357 | case 116: if(data == ',') state++; //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0, |
||
358 | break; |
||
359 | case 117: if(data == ',') state++; //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0, |
||
360 | break; |
||
361 | case 118: if(data == ',') state++; //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006, |
||
362 | break; |
||
363 | case 119: |
||
364 | if(data == ',') |
||
365 | { |
||
366 | state++; //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2, |
||
367 | NMEA_In_Lat_Txt[0] = lat_txt[0]; |
||
368 | NMEA_In_Lat_Txt[1] = lat_txt[1]; |
||
369 | NMEA_In_Lat_Txt[2] = lat_txt[2]; |
||
370 | NMEA_In_Lat_Txt[3] = '.'; |
||
371 | NMEA_In_Lat_Txt[4] = lat_txt[3]; |
||
372 | NMEA_In_Lat_Txt[5] = lat_txt[4]; |
||
373 | for(i=5; i<16; i++) |
||
374 | { |
||
375 | if(lat_txt[i] == '.') i++; |
||
376 | NMEA_In_Lat_Txt[i] = lat_txt[i]; |
||
377 | } |
||
378 | NMEA_In_Lon_Txt[0] = lon_txt[0]; |
||
379 | NMEA_In_Lon_Txt[1] = lon_txt[1]; |
||
380 | NMEA_In_Lon_Txt[2] = lon_txt[2]; |
||
381 | NMEA_In_Lon_Txt[3] = lon_txt[3]; |
||
382 | NMEA_In_Lon_Txt[4] = '.'; |
||
383 | NMEA_In_Lon_Txt[5] = lon_txt[4]; |
||
384 | NMEA_In_Lon_Txt[6] = lon_txt[5]; |
||
385 | for(i=5; i<16; i++) |
||
386 | { |
||
387 | if(lon_txt[i] == '.') i++; |
||
388 | NMEA_In_Lon_Txt[i] = lon_txt[i]; |
||
389 | } |
||
390 | } |
||
391 | break; |
||
392 | case 120: if(data == ',') state++; //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E, |
||
393 | break; |
||
394 | case 121: state = 0; //$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13 |
||
395 | fix_txt[1] = data; |
||
396 | fix_txt[2] = 0; |
||
397 | NMEA_In_Fix_Txt[0] = fix_txt[0]; |
||
398 | NMEA_In_Fix_Txt[1] = fix_txt[1]; |
||
399 | break; |
||
400 | */ |
||
401 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
402 | // $GPGGA |
||
403 | //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
404 | case 200: if(data == ',') state++; //$GPGGA, |
||
405 | NMEA_cnt_gga %= 1000; |
||
406 | NMEA_cnt_gga++; |
||
407 | break; |
||
408 | case 201: if(data == ',') state = 212; //$GPGGA,191410 // time scipped |
||
409 | break; |
||
410 | case 212: if(data == ',') state++; //$GPGGA,191410,4735.5634 Latitude |
||
411 | else |
||
412 | { |
||
413 | if(la < 16) lat_txt[la++] = data; |
||
414 | lat_txt[la] = 0; |
||
415 | } |
||
416 | break; |
||
417 | case 213: if(data == ',') state++; //$GPGGA,191410,4735.5634,N |
||
418 | if(data == 'N') lat_txt[0] = '+'; |
||
419 | if(data == 'S') lat_txt[0] = '-'; |
||
420 | break; |
||
421 | case 214: if(data == ',') state++; //$GPGGA,191410,4735.5634,N,00739.3538 |
||
422 | else |
||
423 | { |
||
424 | if(lo < 16) lon_txt[lo++] = data; |
||
425 | lon_txt[lo] = 0; |
||
426 | } |
||
427 | break; |
||
428 | case 215: if(data == ',') state++; //$GPGGA,191410,4735.5634,N,00739.3538,E |
||
429 | if(data == 'O') lon_txt[0] = '+'; |
||
430 | if(data == 'E') lon_txt[0] = '+'; |
||
431 | if(data == 'W') lon_txt[0] = '-'; |
||
432 | i = 0; a = 0; |
||
433 | break; |
||
434 | case 216: //$GPGGA,191410,4735.5634,N,00739.3538,E,1 -> 0 = No Fix, 1, = Fix, 2 = DGPS, ... |
||
435 | case 217: //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04 -> Anzahl Sat |
||
436 | case 218: //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4 HDOP |
||
437 | if(data == ',') |
||
438 | { |
||
439 | if(++state != 219) // letztes Leerzeiten entfernen |
||
885 | holgerb | 440 | fix_txt[i++] = ','; // komma durch leerzeichen ersetzten |
880 | holgerb | 441 | } |
442 | else if(i < 9) fix_txt[i++] = data; |
||
443 | fix_txt[i] = 0; |
||
444 | break; |
||
445 | case 219: if(data == ',') state++; //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5 |
||
446 | else if(a < 9) alt_txt[a++] = data; |
||
447 | fix_txt[i] = 0; |
||
448 | break; |
||
449 | case 220: |
||
450 | if(data == ',') |
||
451 | { |
||
452 | state++; //$GPGGA,191410,4735.5634,N,00739.3538,E,1,04,4.4,351.5,M |
||
453 | NMEA_In_Lat_Txt[0] = lat_txt[0]; |
||
454 | NMEA_In_Lat_Txt[1] = lat_txt[1]; |
||
455 | NMEA_In_Lat_Txt[2] = lat_txt[2]; |
||
456 | NMEA_In_Lat_Txt[3] = '.'; |
||
457 | NMEA_In_Lat_Txt[4] = lat_txt[3]; |
||
458 | NMEA_In_Lat_Txt[5] = lat_txt[4]; |
||
459 | for(i=5; i<16; i++) |
||
460 | { |
||
461 | if(lat_txt[i] == '.') i++; |
||
462 | NMEA_In_Lat_Txt[i] = lat_txt[i]; |
||
463 | } |
||
464 | NMEA_In_Lon_Txt[0] = lon_txt[0]; |
||
465 | NMEA_In_Lon_Txt[1] = lon_txt[1]; |
||
466 | NMEA_In_Lon_Txt[2] = lon_txt[2]; |
||
467 | NMEA_In_Lon_Txt[3] = lon_txt[3]; |
||
468 | NMEA_In_Lon_Txt[4] = '.'; |
||
469 | NMEA_In_Lon_Txt[5] = lon_txt[4]; |
||
470 | NMEA_In_Lon_Txt[6] = lon_txt[5]; |
||
471 | for(i=6; i<16; i++) |
||
472 | { |
||
473 | if(lon_txt[i] == '.') i++; |
||
474 | NMEA_In_Lon_Txt[i] = lon_txt[i]; |
||
475 | } |
||
476 | } |
||
881 | holgerb | 477 | if(NMEA_In_Fix_Txt[i] > '0' && fix_txt[i] == '0') ErrorNMEAFixLost = 1; |
880 | holgerb | 478 | for(i=0; i<10; i++) |
479 | { |
||
480 | NMEA_In_Alt_Txt[i] = alt_txt[i]; |
||
481 | NMEA_In_Fix_Txt[i] = fix_txt[i]; |
||
482 | } |
||
881 | holgerb | 483 | if(NMEA_In_Fix_Txt[0] > '0') ErrorNMEAFixLost = 0; |
484 | ConvertNmeaToPos(&NMEA_Position); |
||
880 | holgerb | 485 | break; |
486 | default: state = 0; |
||
487 | } |
||
488 | } |
||
489 | |||
490 | |||
41 | ingob | 491 | /********************************************************/ |
492 | /* UART2 Interrupt Handler */ |
||
493 | /********************************************************/ |
||
494 | void UART2_IRQHandler(void) |
||
495 | { |
||
496 | // if receive irq or receive timeout irq has occured |
||
497 | if((UART_GetITStatus(UART2, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART2, UART_IT_ReceiveTimeOut) != RESET) ) |
||
498 | { |
||
499 | UART_ClearITPendingBit(UART2, UART_IT_Receive); // clear receive interrupt flag |
||
500 | UART_ClearITPendingBit(UART2, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
||
501 | |||
881 | holgerb | 502 | // if debug UART is UART2 -> old FC connects to FC through the Uart |
503 | if((DebugUART == UART2) && (UART_VersionInfo.HWMajor < 30)) |
||
41 | ingob | 504 | { // forward received data to the UART1 tx buffer |
505 | while(UART_GetFlagStatus(UART2, UART_FLAG_RxFIFOEmpty) != SET) |
||
506 | { |
||
507 | // wait for space in the tx buffer of the UART1 |
||
508 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {}; |
||
509 | // move the byte from the rx buffer of UART2 to the tx buffer of UART1 |
||
881 | holgerb | 510 | UART_SendData(UART1, UART_ReceiveData(UART2)); |
41 | ingob | 511 | } |
512 | } |
||
513 | else |
||
514 | { |
||
515 | // ignore serial data from the FC |
||
516 | while(UART_GetFlagStatus(UART2, UART_FLAG_RxFIFOEmpty) != SET) |
||
190 | killagreg | 517 | { |
880 | holgerb | 518 | unsigned char c; |
519 | c = UART_ReceiveData(UART2); |
||
520 | if(UART_VersionInfo.HWMajor >= 30) NEMA_Parser(c); |
||
190 | killagreg | 521 | } |
41 | ingob | 522 | } |
523 | } // eof receive irq or receive timeout irq |
||
195 | killagreg | 524 | |
380 | holgerb | 525 | |
378 | holgerb | 526 | VIC1->VAR = 0xFF; // write any value to VIC1 Vector address register |
41 | ingob | 527 | } |
190 | killagreg | 528 | |
529 | /**************************************************************/ |
||
530 | /* Transmit tx buffer via uart2 */ |
||
531 | /**************************************************************/ |
||
532 | void UART2_Transmit(void) |
||
533 | { |
||
534 | u8 tmp_tx; |
||
535 | if(DebugUART == UART2) return; // no data output if debug uart is rederected to UART2 |
||
536 | // if something has to be send and the txd fifo is not full |
||
537 | if((UART2_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART2, UART_FLAG_TxFIFOFull) == RESET)) |
||
538 | { |
||
539 | tmp_tx = UART2_tx_buffer.pData[UART2_tx_buffer.Position++]; // read next byte from txd buffer |
||
540 | UART_SendData(UART2, tmp_tx); // put character to txd fifo |
||
541 | // if terminating character or end of txd buffer reached |
||
542 | if((tmp_tx == '\r') || (UART2_tx_buffer.Position == UART2_tx_buffer.Size)) |
||
543 | { |
||
544 | Buffer_Clear(&UART2_tx_buffer); |
||
545 | } |
||
546 | } |
||
547 | } |
||
548 | |||
549 | /**************************************************************/ |
||
550 | /* Send the answers to incomming commands at the uart2 */ |
||
551 | /**************************************************************/ |
||
552 | void UART2_TransmitTxData(void) |
||
553 | { |
||
554 | if(DebugUART == UART2) return; |
||
555 | UART2_Transmit(); // output pending bytes in tx buffer |
||
556 | } |
||
557 | |||
558 | |||
559 | void UART2_ProcessRxData(void) |
||
560 | { |
||
561 | |||
562 | } |