0,0 → 1,264 |
/*#######################################################################################*/ |
/* !!! THIS IS NOT FREE SOFTWARE !!! */ |
/*#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 2008 Ingo Busker, Holger Buss |
// + Nur für den privaten Gebrauch |
// + FOR NON COMMERCIAL USE ONLY |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
// |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "main.h" |
|
u8 NewGPSDataAvail = 0; |
u8 NewPCTargetGPSPosition = 0; |
u8 GPS_RxBuffer[GPS_RX_SIZE]; |
|
struct str_ubx_nav_sol *GPS_DataSol; |
struct str_ubx_nav_posllh *GPS_DataPosllh; |
struct str_ubx_nav_velned *GPS_DataVelned; |
struct str_ubx_nav_posutm *GPS_DataPosutm; |
struct str_gps_nav_data GPS_Data; |
|
|
// ----------------------------- GPS - Receive ------------------------------------ |
// --- Connect RXD & TXD to GPS --- |
void Connect_UART0_to_GPS(void) |
{ |
GPIO_InitTypeDef GPIO_InitStructure; |
|
SCU_APBPeriphClockConfig(__GPIO6, ENABLE); |
|
GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1 ; |
GPIO_Init(GPIO5, &GPIO_InitStructure); |
|
GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1 ; |
GPIO_Init(GPIO5, &GPIO_InitStructure); |
|
GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1 ; |
GPIO_Init(GPIO6, &GPIO_InitStructure); |
|
GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3 ; |
GPIO_Init(GPIO6, &GPIO_InitStructure); |
} |
//----------------------------------------------- |
void Connect_UART0_to_Compass(void) |
{ |
GPIO_InitTypeDef GPIO_InitStructure; |
|
SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
// GPS off |
GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1 ; |
GPIO_Init(GPIO6, &GPIO_InitStructure); |
|
GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1 ; |
GPIO_Init(GPIO6, &GPIO_InitStructure); |
|
// map UART0 to Compass |
GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1 ; |
GPIO_Init(GPIO5, &GPIO_InitStructure); |
|
GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3 ; |
GPIO_Init(GPIO5, &GPIO_InitStructure); |
} |
|
|
// --------------------------- UART0 Init ------------------------------------ |
void GPS_UART0_Init (void) |
{ |
UART_InitTypeDef UART_InitStructure; |
|
SerialPutString("GPS init..."); |
|
SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART1 Clock |
|
Connect_UART0_to_GPS(); |
|
UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
UART_InitStructure.UART_StopBits = UART_StopBits_1; |
UART_InitStructure.UART_Parity = UART_Parity_No ; |
UART_InitStructure.UART_BaudRate = BAUD_RATE; |
UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
//UART_InitStructure.UART_FIFO = UART_FIFO_Disable; |
UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
|
UART_DeInit(UART0); |
UART_Init(UART0, &UART_InitStructure); |
|
VIC_Config(UART0_ITLine, VIC_IRQ, 10); |
VIC_ITCmd(UART0_ITLine, ENABLE); |
|
UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
UART_Cmd(UART0, ENABLE); |
|
GPS_Init(); |
|
SerialPutString("ok\n\r"); |
} |
|
// ----------------------------- GPS - Receive ------------------------------------ |
void UART0_IRQHandler(void) |
{ |
u8 sioTmp = 0; |
static u8 uartState = 0, gps_buf_ptr = 0; |
|
|
GPIO_ToggleBit(GPIO5, GPIO_Pin_6); |
if (DebugUART == UART0) |
{ |
while (UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
UART_SendData(UART1, UART_ReceiveData(UART0)); |
|
UART_ClearITPendingBit(UART0, UART_IT_Receive); |
UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); |
|
} |
else |
if((UART_GetITStatus(UART0, UART_IT_Receive) != RESET)|| (UART_GetITStatus(UART0, UART_IT_ReceiveTimeOut) != RESET) ) |
{ |
UART_ClearITPendingBit(UART0, UART_IT_Receive); |
UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); |
|
while ((UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) && NewGPSDataAvail == 0) |
{ |
|
sioTmp = UART_ReceiveData(UART0); |
|
|
switch (uartState) |
{ |
case 0: if(sioTmp == 0xB5) { GPS_RxBuffer[4]=0; uartState = 1; } // GPS-UBX Startzeichen |
gps_buf_ptr = 0; |
GPS_RxBuffer[gps_buf_ptr++] = sioTmp; |
break; |
|
case 1: |
if(gps_buf_ptr == 1 && sioTmp != 0x62) { uartState = 0; break;}; // andere Meldung unterdrücken |
if(gps_buf_ptr == 2 && sioTmp != 0x01) { uartState = 0; break;}; // andere Meldung unterdrücken |
if(gps_buf_ptr == 3 && sioTmp != 0x02 && sioTmp != 0x06 && sioTmp != 0x12 && sioTmp != 0x08) { uartState = 0; break;}; // andere Meldung unterdrücken |
|
GPS_RxBuffer[gps_buf_ptr] = sioTmp; |
|
if(gps_buf_ptr < (GPS_RxBuffer[4]+6)) gps_buf_ptr++; |
else |
{ |
if(GPS_RxBuffer[3] == 0x06) // NAV SOL |
{ |
GPS_DataSol = (struct str_ubx_nav_sol *) GPS_RxBuffer; |
GPS_Data.Flags = GPS_DataSol->Flags; |
GPS_Data.Used_Sat = GPS_DataSol->Number_SV; |
GPS_Data.GPS_week = GPS_DataSol->GPS_week; |
} |
else if(GPS_RxBuffer[3] == 0x12) //NAV VELNED |
{ |
GPS_DataVelned = (struct str_ubx_nav_velned *) GPS_RxBuffer; |
GPS_Data.N_Speed = GPS_DataVelned->N_Speed; |
GPS_Data.E_Speed = GPS_DataVelned->E_Speed; |
GPS_Data.DownSpeed = GPS_DataVelned->DownSpeed; |
|
GPS_Data.SpeedAccuracy = GPS_DataVelned->SpeedAccuracy; |
NewGPSDataAvail = 1; |
} |
else if(GPS_RxBuffer[3] == 0x02) // NAV POSLLH |
{ |
GPS_DataPosllh = (struct str_ubx_nav_posllh *) GPS_RxBuffer; |
GPS_Data.Longitude = GPS_DataPosllh->Longitude; |
GPS_Data.Latitude = GPS_DataPosllh->Latitude; |
GPS_Data.Height = GPS_DataPosllh->Height; |
GPS_Data.HeightSL = GPS_DataPosllh->HeightSL; |
GPS_Data.GPS_time = GPS_DataPosllh->GPS_time; |
GPS_Data.HorizontalAccuracy = GPS_DataPosllh->HorizontalAccuracy; |
GPS_Data.VerticalAccuracy = GPS_DataPosllh->VerticalAccuracy; |
} |
else if(GPS_RxBuffer[3] == 0x08) // NAV POSUTM |
{ |
GPS_DataPosutm = (struct str_ubx_nav_posutm *) GPS_RxBuffer; |
GPS_Data.North = GPS_DataPosutm->North; |
GPS_Data.East = GPS_DataPosutm->East; |
GPS_Data.Altitude = GPS_DataPosutm->Altitude; |
} |
uartState = 0; |
} |
break; |
} |
} |
|
} |
} |