0,0 → 1,425 |
/*#######################################################################################*/ |
/* !!! 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 "91x_lib.h" |
#include "uart0.h" |
#include "uart1.h" |
#include "ubx.h" |
#include <stdio.h> |
#include <stdarg.h> |
|
//------------------------------------------------------------------------------------ |
// global variables |
|
|
// UART0 MUXER |
|
UART0_MuxerState_t UART0_Muxer = UART0_UNDEF; |
u16 Uart0Baudrate = BAUD_RATE; |
u16 Uart0MK3MagBaudrate = BAUD_RATE; |
|
volatile u8 txd_buffer0[TXD_BUFFER_LEN]; |
volatile u8 txd_complete0 = TRUE; |
static u16 ptr_txd_buffer0 = 0; |
|
//------------------------------------------------------------------------------------ |
// functions |
|
/********************************************************/ |
/* Connect RXD & TXD to GPS */ |
/********************************************************/ |
void UART0_Connect_to_MKGPS(void) |
{ |
GPIO_InitTypeDef GPIO_InitStructure; |
|
UART0_Muxer = UART0_UNDEF; |
|
SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
// unmap UART0 from Compass |
// set port pin 5.1 (serial data from compass) to input and disconnect from IP |
GPIO_StructInit(&GPIO_InitStructure); |
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); |
// set port pin 5.0 (serial data to compass) to input |
GPIO_StructInit(&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_IPConnected = GPIO_IPConnected_Disable; |
GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
GPIO_Init(GPIO5, &GPIO_InitStructure); |
// map UART0 to GPS |
// set port pin 6.6 (serial data from gps) to input and connect to IP |
GPIO_StructInit(&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; //UART0_RxD |
GPIO_Init(GPIO6, &GPIO_InitStructure); |
// set port pin 6.7 (serial data to gps) to output |
GPIO_StructInit(&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_IPConnected = GPIO_IPConnected_Enable; |
GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
GPIO_Init(GPIO6, &GPIO_InitStructure); |
|
UART0_Muxer = UART0_MKGPS; |
} |
|
/********************************************************/ |
/* Connect RXD & TXD to MK3MAG */ |
/********************************************************/ |
void UART0_Connect_to_MK3MAG(void) |
{ |
GPIO_InitTypeDef GPIO_InitStructure; |
|
UART0_Muxer = UART0_UNDEF; |
|
SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
// unmap UART0 from GPS |
// set port pin 6.6 (serial data from gps) to input and disconnect from IP |
GPIO_StructInit(&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_Disable; |
GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
GPIO_Init(GPIO6, &GPIO_InitStructure); |
// set port pin 6.7 (serial data to gps) to input |
GPIO_StructInit(&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_IPConnected = GPIO_IPConnected_Disable; |
GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
GPIO_Init(GPIO6, &GPIO_InitStructure); |
|
// map UART0 to Compass |
// set port pin 5.1 (serial data from compass) to input and connect to IP |
GPIO_StructInit(&GPIO_InitStructure); |
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; //UART0_RxD |
GPIO_Init(GPIO5, &GPIO_InitStructure); |
// set port pin 5.0 (serial data to compass) to output |
GPIO_StructInit(&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_IPConnected = GPIO_IPConnected_Enable; |
GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
GPIO_Init(GPIO5, &GPIO_InitStructure); |
|
UART0_Muxer = UART0_MK3MAG; |
} |
|
/********************************************************/ |
/* Initialize UART0 */ |
/********************************************************/ |
void UART0_Init(void) |
{ |
UART_InitTypeDef UART_InitStructure; |
|
SerialPutString("\r\n UART0 init..."); |
|
SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART0 Clock |
|
Uart0Baudrate = BAUD_RATE + ((BAUD_RATE * 2)/100); // MK3Mag baudrate is a litlle bit higher... |
|
/* UART0 configured as follow: |
- Word Length = 8 Bits |
- One Stop Bit |
- No parity |
- BaudRate = 57600 baud |
- Hardware flow control Disabled |
- Receive and transmit enabled |
- Receive and transmit FIFOs are Disabled |
*/ |
UART_StructInit(&UART_InitStructure); |
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 = Uart0Baudrate; |
UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
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); // reset uart 0 to default |
UART_Init(UART0, &UART_InitStructure); // initialize uart 0 |
|
// enable uart 0 interrupts selective |
UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut /*| UART_IT_FrameError*/, ENABLE); |
UART_Cmd(UART0, ENABLE); // enable uart 0 |
// configure the uart 0 interupt line as an IRQ with priority 10 (0 is highest) |
VIC_Config(UART0_ITLine, VIC_IRQ, 10); |
// enable the uart 0 IRQ |
VIC_ITCmd(UART0_ITLine, ENABLE); |
UART0_Connect_to_MKGPS(); |
SerialPutString("ok"); |
} |
|
/**************************************************************/ |
/* Transmit tx buffer via debug uart */ |
/**************************************************************/ |
void UART0_Transmit(void) |
{ |
u8 tmp_tx; |
// if something has to be send and the txd fifo is not full |
if((!txd_complete0) && (UART_GetFlagStatus(UART0, UART_FLAG_TxFIFOFull) == RESET)) |
{ |
tmp_tx = txd_buffer0[ptr_txd_buffer0]; // read byte from txd buffer |
// if terminating character or end of txd buffer reached |
if((tmp_tx == '\r') || (ptr_txd_buffer0 == TXD_BUFFER_LEN)) |
{ |
ptr_txd_buffer0 = 0; // reset txd buffer pointer |
txd_complete0 = TRUE;// set complete flag |
} |
UART_SendData(UART0, tmp_tx); // put character to txd fifo |
// set pointer to next byte |
ptr_txd_buffer0++; |
} |
} |
|
/**************************************************************/ |
/* Add CRC and initiate transmission via debug uart */ |
/**************************************************************/ |
void AddCRC0(u16 datalen) |
{ |
u16 tmpCRC = 0, i; |
for(i = 0; i < datalen; i++) |
{ |
tmpCRC += txd_buffer0[i]; |
} |
tmpCRC %= 4096; |
txd_buffer0[i++] = '=' + tmpCRC / 64; |
txd_buffer0[i++] = '=' + tmpCRC % 64; |
txd_buffer0[i++] = '\r'; |
|
ptr_txd_buffer0 = 0; |
txd_complete0 = FALSE; |
UART_SendData(UART0, txd_buffer0[ptr_txd_buffer0++]); // send first byte, to be continued in the txd irq |
} |
|
|
|
/**************************************************************/ |
/* Code output data */ |
/**************************************************************/ |
void SendOutData0(u8 cmd, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, .... |
{ |
va_list ap; |
|
u16 pt = 0; |
u8 a,b,c; |
u8 ptr = 0; |
|
u8* pdata = NULL; |
int len = 0; |
|
txd_buffer0[pt++] = '#'; // Start character |
txd_buffer0[pt++] = 'a' + Address; // Address (a=0; b=1,...) |
txd_buffer0[pt++] = cmd; // Command |
|
va_start(ap, numofbuffers); |
if(numofbuffers) |
{ |
pdata = va_arg(ap, u8*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
while(len) |
{ |
if(len) |
{ |
a = pdata[ptr++]; |
len--; |
if((!len) && numofbuffers) // try to jump to next buffer |
{ |
pdata = va_arg(ap, u8*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
} |
else a = 0; |
if(len) |
{ |
b = pdata[ptr++]; |
len--; |
if((!len) && numofbuffers) // try to jump to next buffer |
{ |
pdata = va_arg(ap, u8*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
} |
else b = 0; |
if(len) |
{ |
c = pdata[ptr++]; |
len--; |
if((!len) && numofbuffers) // try to jump to next buffer |
{ |
pdata = va_arg(ap, u8*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
} |
else c = 0; |
txd_buffer0[pt++] = '=' + (a >> 2); |
txd_buffer0[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
txd_buffer0[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
txd_buffer0[pt++] = '=' + ( c & 0x3f); |
} |
va_end(ap); |
AddCRC0(pt); // add checksum after data block and initates the transmission |
} |
|
|
/********************************************************/ |
/* UART0 Interrupt Handler */ |
/********************************************************/ |
void UART0_IRQHandler(void) |
{ |
u8 c; |
/* |
static u8 frame_error_cnt = 0; |
|
// use frame error to adjust baudrate for MK3MAG |
if((UART_GetITStatus(UART0, UART_IT_FrameError) == SET)) |
{ |
u8 msg[20]; |
frame_error_cnt++; |
|
if (frame_error_cnt == 200) |
{ |
frame_error_cnt = 0; |
VIC_ITCmd(UART0_ITLine, DISABLE); |
|
Uart0MK3MagBaudrate +=100; |
if (Uart0MK3MagBaudrate > (BAUD_RATE+1000)) Uart0MK3MagBaudrate = BAUD_RATE; |
|
Uart0Baudrate = Uart0MK3MagBaudrate; |
|
SerialPutString(" adjusting UART0 baudrate to"); |
sprintf(msg, " %d baud...", Uart0MK3MagBaudrate); SerialPutString(msg); |
|
while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
{ |
c = UART_ReceiveData(UART0); |
} |
|
UART_ClearITPendingBit(UART0, UART_IT_FrameError); // clear frame error interrupt flag |
|
UART0_Init(); |
return; |
} |
|
}*/ |
// if receive irq or receive timeout irq has occured |
if((UART_GetITStatus(UART0, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART0, UART_IT_ReceiveTimeOut) != RESET) ) |
{ |
UART_ClearITPendingBit(UART0, UART_IT_Receive); // clear receive interrupt flag |
UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
|
// if debug UART is UART0 |
if (DebugUART == UART0) |
{ // forward received data to the UART1 tx buffer |
while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
{ |
// wait for space in the tx buffer of the UART1 |
while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {}; |
// move the byte from the rx buffer of UART0 to the tx buffer of UART1 |
UART_SendData(UART1, UART_ReceiveData(UART0)); |
} |
} |
else // UART0 is not the DebugUART (normal operation) |
{ |
// repeat until no byte is in the RxFIFO |
while (UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
{ |
c = UART_ReceiveData(UART0); // get byte from rx fifo |
switch(UART0_Muxer) |
{ |
case UART0_MKGPS: |
UBX_Parser(c); // if connected to GPS forward byte to ubx parser |
break; |
case UART0_MK3MAG: |
// ignore any byte send from MK3MAG |
break; |
case UART0_UNDEF: |
default: |
// ignore the byte from unknown source |
break; |
} // eof switch(UART0_Muxer) |
} // eof while |
} // eof UART0 is not the DebugUART |
} // eof receive irq or receive timeout irq |
} |