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| Rev | Author | Line No. | Line |
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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 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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| 171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| 41 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
| 8 | // + www.MikroKopter.com |
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| 9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| 11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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| 15 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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| 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 22 | // + eindeutig als Ursprung verlinkt werden |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 25 | // + Benutzung auf eigene Gefahr |
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| 26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 41 | ingob | 29 | // + mit unserer Zustimmung zulässig |
| 30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 34 | // + this list of conditions and the following disclaimer. |
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| 35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 36 | // + from this software without specific prior written permission. |
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| 37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
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| 38 | // + for non-commercial use (directly or indirectly) |
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| 39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 40 | // + with our written permission |
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| 41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 42 | // + clearly linked as origin |
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| 171 | ingob | 43 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 41 | ingob | 44 | // |
| 45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 55 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 57 | #include "91x_lib.h" |
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| 58 | #include "uart1.h" |
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| 59 | #include "ubx.h" |
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| 60 | #include <stdio.h> |
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| 61 | |||
| 62 | //------------------------------------------------------------------------------------ |
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| 63 | // global variables |
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| 64 | |||
| 65 | |||
| 66 | // UART0 MUXER |
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| 67 | typedef enum |
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| 68 | { |
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| 69 | UART0_UNDEF, |
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| 70 | UART0_MK3MAG, |
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| 71 | UART0_MKGPS |
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| 72 | } UART0_MuxerState_t; |
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| 73 | |||
| 74 | UART0_MuxerState_t UART0_Muxer = UART0_UNDEF; |
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| 75 | u16 Uart0Baudrate = BAUD_RATE; |
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| 76 | u16 Uart0MK3MagBaudrate = BAUD_RATE; |
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| 77 | |||
| 78 | //------------------------------------------------------------------------------------ |
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| 79 | // functions |
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| 80 | |||
| 81 | /********************************************************/ |
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| 82 | /* Connect RXD & TXD to GPS */ |
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| 83 | /********************************************************/ |
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| 84 | void UART0_Connect_to_MKGPS(void) |
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| 85 | { |
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| 86 | GPIO_InitTypeDef GPIO_InitStructure; |
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| 87 | |||
| 88 | UART0_Muxer = UART0_UNDEF; |
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| 89 | |||
| 90 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
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| 91 | // unmap UART0 from Compass |
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| 92 | // set port pin 5.1 (serial data from compass) to input and disconnect from IP |
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| 93 | GPIO_StructInit(&GPIO_InitStructure); |
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| 94 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 95 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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| 96 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 97 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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| 98 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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| 99 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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| 100 | // set port pin 5.0 (serial data to compass) to input |
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| 101 | GPIO_StructInit(&GPIO_InitStructure); |
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| 102 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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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_IPConnected = GPIO_IPConnected_Disable; |
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| 106 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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| 107 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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| 108 | // map UART0 to GPS |
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| 109 | // set port pin 6.6 (serial data from gps) to input and connect to IP |
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| 110 | GPIO_StructInit(&GPIO_InitStructure); |
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| 111 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 112 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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| 113 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 114 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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| 115 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
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| 116 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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| 117 | // set port pin 6.7 (serial data to gps) to output |
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| 118 | GPIO_StructInit(&GPIO_InitStructure); |
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| 119 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 120 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
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| 121 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 122 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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| 123 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
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| 124 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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| 125 | |||
| 126 | UART0_Muxer = UART0_MKGPS; |
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| 127 | } |
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| 128 | |||
| 129 | /********************************************************/ |
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| 130 | /* Connect RXD & TXD to MK3MAG */ |
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| 131 | /********************************************************/ |
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| 132 | void UART0_Connect_to_MK3MAG(void) |
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| 133 | { |
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| 134 | GPIO_InitTypeDef GPIO_InitStructure; |
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| 135 | |||
| 136 | UART0_Muxer = UART0_UNDEF; |
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| 137 | |||
| 138 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
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| 139 | // unmap UART0 from GPS |
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| 140 | // set port pin 6.6 (serial data from gps) to input and disconnect from IP |
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| 141 | GPIO_StructInit(&GPIO_InitStructure); |
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| 142 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 143 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
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| 144 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 145 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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| 146 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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| 147 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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| 148 | // set port pin 6.7 (serial data to gps) to input |
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| 149 | GPIO_StructInit(&GPIO_InitStructure); |
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| 150 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 151 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
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| 152 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 153 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
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| 154 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
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| 155 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
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| 156 | |||
| 157 | // map UART0 to Compass |
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| 158 | // set port pin 5.1 (serial data from compass) to input and connect to IP |
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| 159 | GPIO_StructInit(&GPIO_InitStructure); |
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| 160 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
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| 161 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
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| 162 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
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| 163 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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| 164 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
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| 165 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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| 166 | // set port pin 5.0 (serial data to compass) to output |
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| 167 | GPIO_StructInit(&GPIO_InitStructure); |
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| 168 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
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| 169 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
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| 170 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
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| 171 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
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| 172 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
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| 173 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
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| 174 | |||
| 175 | UART0_Muxer = UART0_MK3MAG; |
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| 176 | } |
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| 177 | |||
| 178 | /********************************************************/ |
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| 179 | /* Initialize UART0 */ |
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| 180 | /********************************************************/ |
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| 181 | void UART0_Init(void) |
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| 182 | { |
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| 183 | UART_InitTypeDef UART_InitStructure; |
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| 184 | |||
| 185 | SerialPutString("\r\n UART0 init..."); |
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| 186 | |||
| 187 | SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART0 Clock |
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| 188 | |||
| 189 | Uart0Baudrate = BAUD_RATE + ((BAUD_RATE * 2)/100); // MK3Mag baudrate is a litlle bit higher... |
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| 190 | |||
| 191 | /* UART0 configured as follow: |
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| 192 | - Word Length = 8 Bits |
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| 193 | - One Stop Bit |
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| 194 | - No parity |
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| 195 | - BaudRate = 57600 baud |
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| 196 | - Hardware flow control Disabled |
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| 197 | - Receive and transmit enabled |
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| 198 | - Receive and transmit FIFOs are Disabled |
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| 199 | */ |
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| 200 | UART_StructInit(&UART_InitStructure); |
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| 201 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
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| 202 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
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| 203 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
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| 204 | UART_InitStructure.UART_BaudRate = Uart0Baudrate; |
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| 205 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
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| 206 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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| 207 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
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| 208 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
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| 209 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
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| 210 | |||
| 211 | UART_DeInit(UART0); // reset uart 0 to default |
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| 212 | UART_Init(UART0, &UART_InitStructure); // initialize uart 0 |
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| 213 | |||
| 214 | // enable uart 0 interrupts selective |
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| 215 | UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut /*| UART_IT_FrameError*/, ENABLE); |
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| 216 | UART_Cmd(UART0, ENABLE); // enable uart 0 |
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| 217 | // configure the uart 0 interupt line as an IRQ with priority 10 (0 is highest) |
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| 218 | VIC_Config(UART0_ITLine, VIC_IRQ, 10); |
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| 219 | // enable the uart 0 IRQ |
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| 220 | VIC_ITCmd(UART0_ITLine, ENABLE); |
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| 221 | UART0_Connect_to_MKGPS(); |
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| 222 | SerialPutString("ok"); |
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| 223 | } |
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| 224 | |||
| 225 | /********************************************************/ |
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| 226 | /* UART0 Interrupt Handler */ |
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| 227 | /********************************************************/ |
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| 228 | void UART0_IRQHandler(void) |
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| 229 | { |
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| 230 | u8 c; |
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| 231 | /* |
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| 232 | static u8 frame_error_cnt = 0; |
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| 233 | |||
| 234 | // use frame error to adjust baudrate for MK3MAG |
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| 235 | if((UART_GetITStatus(UART0, UART_IT_FrameError) == SET)) |
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| 236 | { |
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| 237 | u8 msg[20]; |
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| 238 | frame_error_cnt++; |
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| 239 | |||
| 240 | if (frame_error_cnt == 200) |
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| 241 | { |
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| 242 | frame_error_cnt = 0; |
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| 243 | VIC_ITCmd(UART0_ITLine, DISABLE); |
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| 244 | |||
| 245 | Uart0MK3MagBaudrate +=100; |
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| 246 | if (Uart0MK3MagBaudrate > (BAUD_RATE+1000)) Uart0MK3MagBaudrate = BAUD_RATE; |
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| 247 | |||
| 248 | Uart0Baudrate = Uart0MK3MagBaudrate; |
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| 249 | |||
| 250 | SerialPutString(" adjusting UART0 baudrate to"); |
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| 251 | sprintf(msg, " %d baud...", Uart0MK3MagBaudrate); SerialPutString(msg); |
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| 252 | |||
| 253 | while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
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| 254 | { |
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| 255 | c = UART_ReceiveData(UART0); |
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| 256 | } |
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| 257 | |||
| 258 | UART_ClearITPendingBit(UART0, UART_IT_FrameError); // clear frame error interrupt flag |
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| 259 | |||
| 260 | UART0_Init(); |
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| 261 | return; |
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| 262 | } |
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| 263 | |||
| 264 | }*/ |
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| 265 | // if receive irq or receive timeout irq has occured |
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| 266 | if((UART_GetITStatus(UART0, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART0, UART_IT_ReceiveTimeOut) != RESET) ) |
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| 267 | { |
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| 268 | UART_ClearITPendingBit(UART0, UART_IT_Receive); // clear receive interrupt flag |
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| 269 | UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
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| 270 | |||
| 271 | // if debug UART is UART0 |
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| 272 | if (DebugUART == UART0) |
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| 273 | { // forward received data to the UART1 tx buffer |
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| 274 | while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
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| 275 | { |
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| 276 | // wait for space in the tx buffer of the UART1 |
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| 277 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {}; |
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| 278 | // move the byte from the rx buffer of UART0 to the tx buffer of UART1 |
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| 279 | UART_SendData(UART1, UART_ReceiveData(UART0)); |
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| 280 | } |
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| 281 | } |
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| 282 | else // UART0 is not the DebugUART (normal operation) |
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| 283 | { |
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| 284 | // repeat until no byte is in the RxFIFO |
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| 285 | while (UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
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| 286 | { |
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| 287 | c = UART_ReceiveData(UART0); // get byte from rx fifo |
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| 288 | switch(UART0_Muxer) |
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| 289 | { |
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| 290 | case UART0_MKGPS: |
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| 291 | UBX_Parser(c); // if connected to GPS forward byte to ubx parser |
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| 292 | break; |
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| 293 | case UART0_MK3MAG: |
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| 294 | // ignore any byte send from MK3MAG |
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| 295 | break; |
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| 296 | case UART0_UNDEF: |
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| 297 | default: |
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| 298 | // ignore the byte from unknown source |
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| 299 | break; |
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| 300 | } // eof switch(UART0_Muxer) |
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| 301 | } // eof while |
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| 302 | } // eof UART0 is not the DebugUART |
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| 303 | } // eof receive irq or receive timeout irq |
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| 304 | } |