0,0 → 1,532 |
/*#######################################################################################*/ |
/* !!! THIS IS NOT FREE SOFTWARE !!! */ |
/*#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Software Nutzungsbedingungen (english version: see below) |
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
// + des Mitverschuldens offen. |
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Software LICENSING TERMS |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
// + 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 |
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
// + The Software may only be used with the Licensor's products. |
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
// + agreement shall be the property of the Licensor. |
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
// + features that can be used to identify the program may not be altered or defaced by the customer. |
// + The customer shall be responsible for taking reasonable precautions |
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
// + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
// + #### END OF LICENSING TERMS #### |
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <stdio.h> |
#include <stdarg.h> |
#include <string.h> |
#include "91x_lib.h" |
#include "config.h" |
#include "main.h" |
#include "uart0.h" |
#include "uart1.h" |
#include "timer1.h" |
#include "ubx.h" |
#include "mkprotocol.h" |
|
|
//------------------------------------------------------------------------------------ |
// global variables |
|
MKOSD_VersionInfo_t MKOSD_VersionInfo; |
|
// UART0 MUXER |
UART0_MuxerState_t UART0_Muxer = UART0_UNDEF; |
u16 Uart0Baudrate = UART0_BAUD_RATE; |
u16 Uart0MK3MagBaudrate = UART0_BAUD_RATE; |
|
// the tx buffer |
#define UART0_TX_BUFFER_LEN 150 |
u8 UART0_tbuffer[UART0_TX_BUFFER_LEN]; |
Buffer_t UART0_tx_buffer; |
|
// the rx buffer |
#define UART0_RX_BUFFER_LEN 150 |
u8 UART0_rbuffer[UART0_RX_BUFFER_LEN]; |
Buffer_t UART0_rx_buffer; |
|
u8 UART0_Request_VersionInfo = FALSE; |
u8 UART0_Request_NaviData = FALSE; |
u8 UART0_Request_ErrorMessage = FALSE; |
u32 UART0_NaviData_Timer; |
u32 UART0_NaviData_Interval = 0; // in ms |
|
//------------------------------------------------------------------------------------ |
// functions |
|
/********************************************************/ |
/* Configure uart 0 */ |
/********************************************************/ |
void UART0_Configure(u16 Baudrate) |
{ |
UART_InitTypeDef UART_InitStructure; |
|
SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART0 Clock |
|
/* UART0 configured as follow: |
- Word Length = 8 Bits |
- One Stop Bit |
- No parity |
- BaudRate taken from function argument |
- 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 = Baudrate; |
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 |
VIC_Config(UART0_ITLine, VIC_IRQ, PRIORITY_UART0); |
// enable the uart 0 IRQ |
VIC_ITCmd(UART0_ITLine, ENABLE); |
} |
|
/********************************************************/ |
/* Connect RXD & TXD to GPS */ |
/********************************************************/ |
void UART0_Connect_to_MKGPS(u16 Baudrate) |
{ |
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_IPInputConnected = GPIO_IPInputConnected_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_IPInputConnected = GPIO_IPInputConnected_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_IPInputConnected = GPIO_IPInputConnected_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_IPInputConnected = GPIO_IPInputConnected_Enable; |
GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
GPIO_Init(GPIO6, &GPIO_InitStructure); |
// configure the UART0 |
UART0_Configure(Baudrate); |
|
UART0_Muxer = UART0_MKGPS; |
} |
|
/********************************************************/ |
/* Connect RXD & TXD to MK3MAG */ |
/********************************************************/ |
void UART0_Connect_to_MK3MAG(void) |
{ |
u16 Baudrate; |
|
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_IPInputConnected = GPIO_IPInputConnected_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_IPInputConnected = GPIO_IPInputConnected_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_IPInputConnected = GPIO_IPInputConnected_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_IPInputConnected = GPIO_IPInputConnected_Enable; |
GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
GPIO_Init(GPIO5, &GPIO_InitStructure); |
Baudrate = UART0_BAUD_RATE + ((UART0_BAUD_RATE * 2)/100); // MK3Mag baudrate is a little bit higher... |
UART0_Configure(Baudrate); |
UART0_Muxer = UART0_MK3MAG; |
} |
|
/********************************************************/ |
/* Initialize UART0 */ |
/********************************************************/ |
void UART0_Init(void) |
{ |
UART1_PutString("\r\n UART0 init..."); |
|
UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
|
// initialize txd buffer |
Buffer_Init(&UART0_tx_buffer, UART0_tbuffer, UART0_TX_BUFFER_LEN); |
|
// initialize rxd buffer |
Buffer_Init(&UART0_rx_buffer, UART0_rbuffer, UART0_RX_BUFFER_LEN); |
|
UART1_PutString("ok"); |
} |
|
/********************************************************/ |
/* UART0 Interrupt Handler */ |
/********************************************************/ |
void UART0_IRQHandler(void) |
{ |
u8 c; |
// if receive irq (FIFO is over trigger level) or receive timeout irq (FIFO is not empty for longer times) 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_RxParser(c); // if connected to GPS forward byte to ubx parser |
// MKProtocol_CollectSerialFrame(&UART0_rx_buffer, c); // ckeck for MK-Frames also |
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 |
|
VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
} |
|
/**************************************************************/ |
/* Process incomming data from debug uart */ |
/**************************************************************/ |
void UART0_ProcessRxData(void) |
{ |
SerialMsg_t SerialMsg; |
// if data in the rxd buffer are not locked immediately return |
if((UART0_rx_buffer.Locked == FALSE) || (DebugUART == UART0) ) return; |
|
MKProtocol_DecodeSerialFrameHeader(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
MKProtocol_DecodeSerialFrameData(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
|
switch(SerialMsg.Address) // check for Slave Address |
{ |
case MKOSD_ADDRESS: // answers from the MKOSD |
switch(SerialMsg.CmdID) |
{ |
case 'V': |
memcpy(&MKOSD_VersionInfo, SerialMsg.pData, sizeof(MKOSD_VersionInfo)); // copy echo pattern |
break; |
default: |
break; |
} // case MKOSD_ADDRESS |
break; |
|
case NC_ADDRESS: // own Slave Address |
switch(SerialMsg.CmdID) |
{ |
case 'e': // request for the text of the error status |
UART0_Request_ErrorMessage = TRUE; |
break; |
case 'o': // request for navigation information |
UART0_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
if(UART0_NaviData_Interval > 0) UART0_Request_NaviData = TRUE; |
break; |
default: |
break; |
} // case NC_ADDRESS |
// "break;" is missing here to fall thru to the common commands |
|
default: // and any other Slave Address |
switch(SerialMsg.CmdID) // check CmdID |
{ |
case 'v': // request for version info |
UART0_Request_VersionInfo = TRUE; |
break; |
default: |
// unsupported command recieved |
break; |
} |
break; // default: |
} |
Buffer_Clear(&UART0_rx_buffer); |
} |
|
/**************************************************************/ |
/* Transmit tx buffer via uart0 */ |
/**************************************************************/ |
void UART0_Transmit(void) |
{ |
u8 tmp_tx; |
|
if(DebugUART == UART0) return; // no data output if debug uart is rederected to UART0 |
// if something has to be send and the txd fifo is not full |
if((UART0_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART0, UART_FLAG_TxFIFOFull) == RESET)) |
{ |
tmp_tx = UART0_tx_buffer.pData[UART0_tx_buffer.Position++]; // read next byte from txd buffer |
UART_SendData(UART0, tmp_tx); // put character to txd fifo |
// if terminating character or end of txd buffer reached |
if((tmp_tx == '\r') || (UART0_tx_buffer.Position == UART0_tx_buffer.Size)) |
{ |
Buffer_Clear(&UART0_tx_buffer); |
} |
} |
|
} |
|
|
/**************************************************************/ |
/* Send the answers to incomming commands at the uart0 */ |
/**************************************************************/ |
void UART0_TransmitTxData(void) |
{ |
if(DebugUART == UART0) return; |
UART0_Transmit(); // output pending bytes in tx buffer |
if(UART0_tx_buffer.Locked == TRUE) return; |
|
else if(UART0_Request_ErrorMessage && (UART0_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
UART0_Request_ErrorMessage = FALSE; |
} |
else if(UART0_Request_VersionInfo && (UART0_tx_buffer.Locked == FALSE)) |
{ |
MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
UART0_Request_VersionInfo = FALSE; |
} |
else if(( ((UART0_NaviData_Interval >0) && CheckDelay(UART0_NaviData_Timer) ) || UART0_Request_NaviData) && (UART0_tx_buffer.Locked == FALSE)) |
{ |
NaviData.Errorcode = ErrorCode; |
MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
UART0_NaviData_Timer = SetDelay(UART0_NaviData_Interval); |
UART0_Request_NaviData = FALSE; |
} |
UART0_Transmit(); // output pending bytes in tx buffer |
} |
|
|
/**************************************************************/ |
/* Get the version of the MKOSD */ |
/**************************************************************/ |
u8 UART0_GetMKOSDVersion(void) |
{ |
u32 timeout; |
u8 msg[64]; |
u8 retval = 0; |
|
MKOSD_VersionInfo.SWMajor = 0xFF; |
MKOSD_VersionInfo.SWMinor = 0xFF; |
MKOSD_VersionInfo.SWPatch = 0xFF; |
|
if(UART0_Muxer != UART0_MKGPS) UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
|
MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'v', MKOSD_ADDRESS, 0); // request for version info |
while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
|
timeout = SetDelay(500); |
do |
{ |
UART0_ProcessRxData(); |
if(MKOSD_VersionInfo.SWMajor != 0xFF) break; |
}while(!CheckDelay(timeout)); |
|
if(MKOSD_VersionInfo.SWMajor != 0xFF) |
{ |
sprintf(msg, "\n\r MK-OSD V%d.%d%c", MKOSD_VersionInfo.SWMajor, MKOSD_VersionInfo.SWMinor, 'a'+MKOSD_VersionInfo.SWPatch); |
UART1_PutString(msg); |
retval = 1; |
} |
//else UART1_PutString("\n\r No version information from MK-OSD."); |
return(retval); |
} |
|
/**************************************************************/ |
/* Send a message to the UBLOX device */ |
/**************************************************************/ |
u8 UART0_UBXSendMsg(u8* pData, u16 Len) |
{ |
u8 retval = 0; |
// check for connection to GPS |
if(UART0_Muxer != UART0_MKGPS) return(retval); |
while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
UBX_CreateMsg(&UART0_tx_buffer, pData, Len); // build ubx message frame |
while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
return(1); |
} |
|
/**************************************************************/ |
/* Send a configuration message to the UBLOX device */ |
/**************************************************************/ |
u8 UART0_UBXSendCFGMsg(u8* pData, u16 Len) |
{ |
u32 timeout; |
u8 retval = 0; |
// if data are not a CFG MSG |
if(pData[0]!= UBX_CLASS_CFG) return(retval); |
// prepare rx msg filter |
UbxMsg.Hdr.Class = UBX_CLASS_ACK; |
UbxMsg.Hdr.Id = 0xFF; |
UbxMsg.Hdr.Length = 0; |
UbxMsg.ClassMask = 0xFF; |
UbxMsg.IdMask = 0x00; |
UbxMsg.Status = INVALID; |
UART0_UBXSendMsg(pData, Len); |
// check for acknowledge msg |
timeout = SetDelay(100); |
do |
{ |
if(UbxMsg.Status == NEWDATA) break; |
}while(!CheckDelay(timeout)); |
if(UbxMsg.Status == NEWDATA) |
{ // 2 bytes payload |
if((UbxMsg.Data[0] == pData[0]) && (UbxMsg.Data[1] == pData[1]) && (UbxMsg.Hdr.Length == 2)) retval = UbxMsg.Hdr.Id; |
} |
UbxMsg.Status = INVALID; |
return(retval); |
} |
|
/**************************************************************/ |
/* Get Version Info from UBX Module */ |
/**************************************************************/ |
u8 UART0_GetUBXVersion(void) |
{ |
u32 timeout; |
u8 retval = 0xFF; |
u8 ubxmsg[]={0x0A, 0x04, 0x00, 0x00}; //MON-VER |
// prepare rx msg filter |
UbxMsg.Hdr.Class = 0x0A; |
UbxMsg.Hdr.Id = 0x04; |
UbxMsg.Hdr.Length = 0; |
UbxMsg.ClassMask = 0xFF; |
UbxMsg.IdMask = 0xFF; |
UbxMsg.Status = INVALID; |
UART0_UBXSendMsg(ubxmsg, sizeof(ubxmsg)); |
// check for answer |
timeout = SetDelay(100); |
do |
{ |
if(UbxMsg.Status == NEWDATA) break; |
}while(!CheckDelay(timeout)); |
if((UbxMsg.Hdr.Length >= 40) && (UbxMsg.Status == NEWDATA)) |
{ |
UbxMsg.Data[4] = 0; //Only the fisrt 4 chsracters |
UbxMsg.Data[39] = 0; |
UART1_PutString(" V"); |
UART1_PutString((u8*)&UbxMsg.Data); |
UART1_PutString(" HW:"); |
UART1_PutString((u8*)&UbxMsg.Data[30]); |
retval = UbxMsg.Data[0]-'0'; // major sw version |
} |
UbxMsg.Status = INVALID; |
return(retval); |
} |