| /trunk/91x_conf.h |
|---|
| 41,7 → 41,7 |
| /************************* FMI *************************/ |
| #define _FMI |
| /************************* WIU *************************/ |
| //#define _WIU |
| #define _WIU |
| /************************* TIM *************************/ |
| #define _TIM |
| #define _TIM0 |
| /trunk/GPS.c |
|---|
| 1,4 → 1,14 |
| /*#######################################################################################*/ |
| /*#######################################################################################*/ |
| // IMPORTANT NOTE: |
| // This is only a dummy implementation for errorfree compiling of the NaviCtrl sources. |
| // The GPS navigation routines are NOT included ! |
| /*#######################################################################################*/ |
| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 7,14 → 17,14 |
| // + 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. |
| // + 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, |
| // + 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 |
| 25,21 → 35,21 |
| // + 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 |
| // + 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, |
| // + 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 |
| // + * 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 |
| // + 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 |
| // + * 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" |
| 52,108 → 62,551 |
| // + 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. |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdio.h> |
| #include <stdlib.h> |
| #include <math.h> |
| #include "91x_lib.h" |
| #include "main.h" |
| #include "uart1.h" |
| #include "GPS.h" |
| #include "timer.h" |
| #include "spi_slave.h" |
| #include "waypoints.h" |
| #include "i2c.h" |
| u8 OsdBar; // Direction home for OSD |
| s16 OsdDistance; // Distance home |
| s16 GPS_Nick; |
| s16 GPS_Roll; |
| struct str_GPSParameter GPSParameter; |
| #define M_PI_180 (M_PI / 180.0f) |
| #define GPS_UPDATETIME_MS 200 // 200ms is 5 Hz |
| typedef enum |
| { |
| GPS_FLIGHT_MODE_UNDEF, |
| GPS_FLIGHT_MODE_FREE, |
| GPS_FLIGHT_MODE_AID, |
| GPS_FLIGHT_MODE_WAYPOINT |
| } GPS_FlightMode_t; |
| #define GPS_MODE_FREE 0 |
| #define GPS_MODE_AID 1 |
| #define GPS_MODE_HOLD 2 |
| #define GPS_MODE_HOME 3 |
| u32 GpsFlightMode = GPS_MODE_FREE; |
| typedef struct |
| { |
| float Gain; |
| float P; |
| float I; |
| float D; |
| float A; |
| float ACC; |
| u8 MinSat; |
| s8 StickThreshold; |
| float WindCorrection; |
| s32 OperatingRadius; |
| u32 NaviAngleLimitation; |
| GPS_FlightMode_t FlightMode; |
| } __attribute__((packed)) GPS_Parameter_t; |
| typedef struct |
| { |
| Status_t Status; // invalid, newdata, processed |
| s32 North; // in cm |
| s32 East; // in cm |
| s32 Bearing; // in deg |
| s32 Distance; // in cm |
| } __attribute__((packed)) GPS_Deviation_t; |
| GPS_Deviation_t TargetDeviation; |
| GPS_Stick_t GPS_Stick; |
| GPS_Parameter_t GPS_Parameter; |
| // the gps reference positions |
| GPS_Pos_t GPS_HoldPosition = {0,0,0, INVALID}; // the hold position |
| GPS_Pos_t GPS_HomePosition = {0,0,0, INVALID}; // the home position |
| GPS_Pos_t * GPS_pTargetPosition = NULL; // pointer to the actual target position |
| Waypoint_t* GPS_pWaypoint = NULL; // pointer to the actual waypoint |
| //------------------------------------------------------------- |
| // Update GPSParamter |
| void GPS_UpdateParameter(void) |
| { |
| static GPS_FlightMode_t FlightMode_Old = GPS_FLIGHT_MODE_UNDEF; |
| // in case of bad receiving conditions |
| if(FC.RC_Quality < 100) |
| { // set fixed parameter |
| GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
| GPS_Parameter.Gain = (float) 100; |
| GPS_Parameter.P = (float) 90; |
| GPS_Parameter.I = (float) 90; |
| GPS_Parameter.D = (float) 90; |
| GPS_Parameter.A = (float) 90; |
| GPS_Parameter.ACC = (float) 0; |
| GPS_Parameter.MinSat = 6; |
| GPS_Parameter.StickThreshold = 8; |
| GPS_Parameter.WindCorrection = 0.0; |
| GPS_Parameter.OperatingRadius = 0; // forces the aircraft to fly to home positon |
| GPS_Parameter.NaviAngleLimitation = 125; |
| } |
| else |
| { |
| // update parameter from FC |
| if(StopNavigation) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
| else |
| { |
| if (Parameter.NaviGpsModeControl < 50) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID; |
| else if(Parameter.NaviGpsModeControl < 180) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE; |
| else GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT; |
| } |
| GPS_Parameter.Gain = (float)Parameter.NaviGpsGain; |
| GPS_Parameter.P = (float)Parameter.NaviGpsP; |
| GPS_Parameter.I = (float)Parameter.NaviGpsI; |
| GPS_Parameter.D = (float)Parameter.NaviGpsD; |
| GPS_Parameter.A = (float)Parameter.NaviGpsD; |
| GPS_Parameter.ACC = (float)Parameter.NaviGpsACC; |
| GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat; |
| GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold; |
| GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection; |
| GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm |
| GPS_Parameter.NaviAngleLimitation = (u32) Parameter.NaviAngleLimitation * 2; |
| } |
| // FlightMode changed? |
| if(GPS_Parameter.FlightMode != FlightMode_Old) BeepTime = 100; // beep to indicate that mode has switched |
| FlightMode_Old = GPS_Parameter.FlightMode; |
| } |
| //------------------------------------------------------------- |
| // This function defines a good GPS signal condition |
| u8 GPS_IsSignalOK(void) |
| { |
| if( (GPSData.Status != INVALID) && (GPSData.SatFix == SATFIX_3D) && (GPSData.NumOfSats >= GPS_Parameter.MinSat)) return(1); |
| else return(0); |
| } |
| //------------------------------------------------------------ |
| // Init variables or send configuration to GPS module |
| // Checks for manual control action |
| u8 GPS_IsManuallyControlled(void) |
| { |
| if( ( (abs(FC.StickNick) > GPS_Parameter.StickThreshold) || (abs(FC.StickRoll) > GPS_Parameter.StickThreshold)) && (GPS_Parameter.StickThreshold > 0)) return 1; |
| else return 0; |
| } |
| //------------------------------------------------------------ |
| // copy GPS position from source position to target position |
| u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
| { |
| u8 retval = 0; |
| if((pGPSPosSrc == NULL) || (pGPSPosTgt == NULL)) return(retval); // bad pointer |
| // copy only valid positions |
| if(pGPSPosSrc->Status != INVALID) |
| { |
| // if the source GPS position is not invalid |
| pGPSPosTgt->Longitude = pGPSPosSrc->Longitude; |
| pGPSPosTgt->Latitude = pGPSPosSrc->Latitude; |
| pGPSPosTgt->Altitude = pGPSPosSrc->Altitude; |
| pGPSPosTgt->Status = NEWDATA; // mark data in target position as new |
| retval = 1; |
| } |
| return(retval); |
| } |
| //------------------------------------------------------------ |
| // clear position data |
| u8 GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
| { |
| u8 retval = FALSE; |
| if(pGPSPos == NULL) return(retval); // bad pointer |
| else |
| { |
| pGPSPos->Longitude = 0; |
| pGPSPos->Latitude = 0; |
| pGPSPos->Altitude = 0; |
| pGPSPos->Status = INVALID; |
| retval = TRUE; |
| } |
| return (retval); |
| } |
| //------------------------------------------------------------ |
| void GPS_Neutral() |
| { |
| GPS_Stick.Nick = 0; |
| GPS_Stick.Roll = 0; |
| GPS_Stick.Yaw = 0; |
| } |
| //------------------------------------------------------------ |
| void GPS_Init(void) |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| OsdDistance = 0; |
| OsdBar = 0; |
| SerialPutString("\r\n GPS init..."); |
| UBX_Init(); |
| GPS_Neutral(); |
| GPS_ClearPosition(&GPS_HoldPosition); |
| GPS_ClearPosition(&GPS_HomePosition); |
| GPS_pTargetPosition = NULL; |
| WPList_Init(); |
| GPS_pWaypoint = WPList_Begin(); |
| GPS_UpdateParameter(); |
| SerialPutString("ok"); |
| } |
| GPSParameter.P = 100; |
| GPSParameter.I = 100; |
| GPSParameter.D = 100; |
| GPSParameter.A = 100; |
| GPSParameter.ACC = 100; |
| GPSParameter.ModeSchalter = 100; |
| GPSParameter.Amplification = 100;; |
| //------------------------------------------------------------ |
| // calculate the bearing to target position from its deviation |
| s32 DirectionToTarget_N_E(float northdev, float eastdev) |
| { |
| s32 bearing; |
| bearing = (s32)(atan2(northdev, eastdev) / M_PI_180); |
| bearing = (270L - bearing)%360L; |
| return(bearing); |
| } |
| //------------------------------------------------------------ |
| // Rescale xy-vector length if length limit is violated |
| void GPS_LimitXY(s32 *x, s32 *y, s32 limit) |
| { |
| s32 dist; |
| dist = (s32)hypot(*x,*y); // the length of the vector |
| if ((dist != 0L) && (dist > limit)) |
| // if vector length is larger than the given limit |
| { // scale vector compontents so that the length is cut off to limit |
| *x = (*x * limit) / dist; |
| *y = (*y * limit) / dist; |
| } |
| } |
| u8 Navigation(void) |
| //------------------------------------------------------------ |
| // transform the integer deg into float radians |
| inline double RadiansFromGPS(s32 deg) |
| { |
| static char GpsFix = 0, NewGpsMode = 0; |
| static u32 beep_rythm; |
| u32 tmp_long; |
| if(NewGPSDataAvail) // there are new data from gps module |
| { |
| NewGPSDataAvail = 0; |
| beep_rythm++; |
| return ((double)deg * 1e-7f * M_PI_180); // 1E-7 because deg is the value in ° * 1E7 |
| } |
| GPSParameter.ModeSchalter = Parameter_UserParam1; |
| GPSParameter.Amplification = (float) Parameter_UserParam2 / (100.0); |
| GPSParameter.P = (float) Parameter_UserParam3; |
| GPSParameter.I = (float) Parameter_UserParam4; |
| GPSParameter.D = (float) Parameter_UserParam5; |
| GPSParameter.A = (float) Parameter_UserParam6; |
| GPSParameter.ACC = (float) Parameter_UserParam7; |
| if(SenderOkay < 100) // Empfangsausfall |
| { |
| GPSParameter.ModeSchalter = 0; |
| GPSParameter.Amplification = 100; |
| GPSParameter.P = (float) 90; |
| GPSParameter.I = (float) 90; |
| GPSParameter.D = (float) 90; |
| GPSParameter.A = (float) 90; |
| GPSParameter.ACC = (float) 90; |
| } |
| //------------------------------------------------------------ |
| // transform the integer deg into float deg |
| inline double DegFromGPS(s32 deg) |
| { |
| return ((double)deg * 1e-7f); // 1E-7 because deg is the value in ° * 1E7 |
| } |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ GPS-Mode |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| tmp_long = GpsFlightMode; |
| if(GPSParameter.ModeSchalter < 20) GpsFlightMode = GPS_MODE_AID; |
| else |
| if(GPSParameter.ModeSchalter < 200) GpsFlightMode = GPS_MODE_FREE; |
| else GpsFlightMode = GPS_MODE_HOME; |
| if(GpsFlightMode != tmp_long) // Mode changed |
| { |
| BeepTime = 100; |
| NewGpsMode = 1; |
| } |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //------------------------------------------------------------ |
| // calculate the deviation from the current position to the target position |
| u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos) |
| { |
| double temp1, temp2; |
| // if given pointer is NULL |
| if((pCurrentPos == NULL) || (pTargetPos == NULL)) goto baddata; |
| // if positions are invalid |
| if((pCurrentPos->Status == INVALID) || (pTargetPos->Status == INVALID)) goto baddata; |
| // The deviation from the current to the target position along north and east direction is |
| // simple the lat/lon difference. To convert that angular deviation into an |
| // arc length the spherical projection has to be considered. |
| // The mean earth radius is 6371km. Therfore the arc length per latitude degree |
| // is always 6371km * 2 * Pi / 360deg = 111.2 km/deg. |
| // The arc length per longitude degree depends on the correspondig latitude and |
| // is 111.2km * cos(latitude). |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ Fix okay |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if((GPS_Data.Flags & GPS_FIX) && ((GPS_Data.Used_Sat >= GPS_SAT_MIN) || GpsFix)) |
| { |
| GpsFix = 1; // hysteresis |
| // here is a good place to put your GPS code... |
| GPS_Nick = 0; // do nothing |
| GPS_Roll = 0; // do nothing |
| // calculate the shortest longitude deviation from target |
| temp1 = DegFromGPS(pCurrentPos->Longitude) - DegFromGPS(pTargetPos->Longitude); |
| // outside an angular difference of -180 deg ... +180 deg its shorter to go the other way around |
| // In our application we wont fly more than 20.000 km but along the date line this is important. |
| if(temp1 > 180.0f) temp1 -= 360.0f; |
| else if (temp1 < -180.0f) temp1 += 360.0f; |
| temp1 *= cos(RadiansFromGPS(pTargetPos->Latitude)); |
| // calculate latitude deviation from target |
| // this is allways within -180 deg ... 180 deg |
| temp2 = DegFromGPS(pCurrentPos->Latitude) - DegFromGPS(pTargetPos->Latitude); |
| // deviation from target position in cm |
| // i.e. the distance to walk from the target in northern and eastern direction to reach the current position |
| TargetDeviation.Status = INVALID; |
| TargetDeviation.North = (s32)(11119492.7f * temp2); |
| TargetDeviation.East = (s32)(11119492.7f * temp1); |
| // If the position deviation is small enough to neglect the earth curvature |
| // (this is for our application always fulfilled) the distance to target |
| // can be calculated by the pythagoras of north and east deviation. |
| TargetDeviation.Distance = (s32)(11119492.7f * hypot(temp1, temp2)); |
| if (TargetDeviation.Distance == 0L) TargetDeviation.Bearing = 0L; |
| else TargetDeviation.Bearing = DirectionToTarget_N_E(temp2, temp1); |
| TargetDeviation.Status = NEWDATA; |
| return TRUE; |
| baddata: |
| TargetDeviation.North = 0L; |
| TargetDeviation.East = 0L; |
| TargetDeviation.Distance = 0L; |
| TargetDeviation.Bearing = 0L; |
| TargetDeviation.Status = INVALID; |
| return FALSE; |
| } |
| //------------------------------------------------------------ |
| void GPS_Navigation(void) |
| { |
| static u32 beep_rythm; |
| static u32 GPSDataTimeout = 0; |
| // pointer to current target position |
| static GPS_Pos_t * pTargetPositionOld = NULL; |
| static Waypoint_t* GPS_pWaypointOld = NULL; |
| static GPS_Pos_t RangedTargetPosition = {0,0,0, INVALID}; // the limited target position, this is derived from the target position with repect to the operating radius |
| static s32 OperatingRadiusOld = -1; |
| static u8 WPArrived = FALSE; |
| static u32 WPTime = 0; |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ Check for new data from GPS-receiver |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| switch(GPSData.Status) |
| { |
| case INVALID: // no gps data available |
| // do nothing |
| break; |
| case PROCESSED: // the current data have been allready processed |
| // if no new data are available within the timeout switch to invalid state. |
| if(CheckDelay(GPSDataTimeout)) GPSData.Status = INVALID; |
| // wait for new gps data |
| break; |
| case NEWDATA: // handle new gps data |
| // update GPS Parameter from FC-Data via SPI interface |
| GPS_UpdateParameter(); |
| // wait maximum of 3 times the normal data update time before data timemout |
| GPSDataTimeout = SetDelay(3 * GPS_UPDATETIME_MS); |
| beep_rythm++; |
| // debug |
| DebugOut.Analog[21] = (u16)GPSData.Speed_North; |
| DebugOut.Analog[22] = (u16)GPSData.Speed_East; |
| DebugOut.Analog[31] = (u16)GPSData.NumOfSats; |
| // If GPS signal condition is sufficient for a reliable position measurement |
| if(GPS_IsSignalOK()) |
| { |
| // if the MK is starting or the home position is invalid then store the home position |
| if((FC.MKFlags & MKFLAG_START) || (GPS_HomePosition.Status == INVALID)) |
| { // try to update the home position from the current position |
| if(GPS_CopyPosition(&(GPSData.Position), &GPS_HomePosition)) |
| { |
| BeepTime = 700; // beep on success |
| GPS_CopyPosition(&GPS_HomePosition, &(NaviData.HomePosition)); |
| } |
| GPS_pWaypoint = WPList_Begin(); // go to start of waypoint list, return NULL of the list is empty |
| } |
| /* The selected flight mode influences the target position pointer and therefore the behavior */ |
| // check for current flight mode and set the target pointer GPS_pTargetPosition respectively |
| switch(GPS_Parameter.FlightMode) |
| { |
| // the GPS control is deactived |
| case GPS_FLIGHT_MODE_FREE: |
| NaviData.NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH); |
| NaviData.NCFlags |= NC_FLAG_FREE; |
| // update hold position |
| GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| // no target position |
| GPS_pTargetPosition = NULL; |
| break; |
| // the GPS supports the position hold, if the pilot takes no action |
| case GPS_FLIGHT_MODE_AID: |
| NaviData.NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH); |
| NaviData.NCFlags |= NC_FLAG_PH; |
| // reset WPList to begin |
| GPS_pWaypoint = WPList_Begin(); |
| if(GPS_IsManuallyControlled()) |
| { |
| GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| GPS_pTargetPosition = NULL; |
| } |
| else |
| { |
| GPS_pTargetPosition = &GPS_HoldPosition; |
| } |
| break; |
| // the GPS control is directed to a target position |
| // given by a waypoint or by the home position |
| case GPS_FLIGHT_MODE_WAYPOINT: |
| NaviData.NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH); |
| NaviData.NCFlags |= NC_FLAG_CH; |
| // waypoint trigger logic |
| if(GPS_pWaypoint != NULL) // waypoint exist |
| { |
| if(GPS_pWaypoint->Position.Status == INVALID) // should never happen |
| { |
| GPS_pWaypoint = WPList_Next(); // goto to next WP |
| WPArrived = FALSE; |
| BeepTime = 255; |
| } |
| else // waypoint position is valid |
| { |
| // check if the pointer to the waypoint has been changed or the data have been updated |
| if((GPS_pWaypoint != GPS_pWaypointOld) || (GPS_pWaypoint->Position.Status == NEWDATA)) |
| { |
| GPS_pWaypointOld = GPS_pWaypoint; |
| // reset the arrived bit to break a pending HoldTime of the old WP |
| WPArrived = FALSE; |
| } |
| if(TargetDeviation.Status != INVALID) |
| { // if the waypoint was not catched and the target area has been reached |
| if(!WPArrived && (TargetDeviation.Distance < (GPS_pWaypoint->ToleranceRadius * 100))) |
| { |
| WPArrived = TRUE; |
| WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp |
| } |
| } |
| // if WP has been reached once, wait hold time before trigger to next one |
| if(WPArrived) |
| { |
| /* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */ |
| if(CheckDelay(WPTime)) |
| { |
| GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached |
| WPArrived = FALSE; // which is not arrived |
| } |
| } // EOF if(WPArrived) |
| } |
| } // EOF waypoint trigger logic |
| if(GPS_pWaypoint != NULL) // Waypoint exist |
| { |
| // update the hold position |
| GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
| } |
| else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached |
| { |
| // fly back to home postion |
| if(GPS_HomePosition.Status == INVALID) |
| { |
| GPS_pTargetPosition = &GPS_HoldPosition; // fall back to hold mode if home position is not available |
| BeepTime = 255; // beep to indicate missin home position |
| } |
| else // the home position is valid |
| { |
| // update the hold position |
| GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| // set target to home position |
| GPS_pTargetPosition = &GPS_HomePosition; |
| } |
| } |
| break; |
| case GPS_FLIGHT_MODE_UNDEF: |
| default: |
| // update hold position |
| GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| // no target position |
| GPS_pTargetPosition = NULL; |
| break; |
| }// EOF GPS Mode Handling |
| /* Calculation of range target based on the real target */ |
| // if no target position exist clear the ranged target position |
| if(GPS_pTargetPosition == NULL) GPS_ClearPosition(&RangedTargetPosition); |
| else |
| { // if the target position has been changed or the value has been updated or the OperatingRadius has changed |
| if((GPS_pTargetPosition != pTargetPositionOld) || (GPS_pTargetPosition->Status == NEWDATA) || (GPS_Parameter.OperatingRadius != OperatingRadiusOld) ) |
| { |
| // calculate deviation of new target position from home position |
| if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition)) |
| { |
| // check distance from home position |
| if(TargetDeviation.Distance > GPS_Parameter.OperatingRadius) |
| { |
| //calculate ranged target position to be within the operation radius area |
| NaviData.NCFlags |= NC_FLAG_RANGE_LIMIT; |
| TargetDeviation.Distance = GPS_Parameter.OperatingRadius; |
| GPS_LimitXY(&(TargetDeviation.East), &(TargetDeviation.North), TargetDeviation.Distance); |
| RangedTargetPosition.Status = INVALID; |
| RangedTargetPosition.Latitude = GPS_HomePosition.Latitude; |
| RangedTargetPosition.Latitude += (s32)((float)TargetDeviation.North / 1.11194927f); |
| RangedTargetPosition.Longitude = GPS_HomePosition.Longitude; |
| RangedTargetPosition.Longitude += (s32)((float)TargetDeviation.East / (1.11194927f * cos(RadiansFromGPS(GPS_HomePosition.Latitude))) ); |
| RangedTargetPosition.Altitude = GPS_pTargetPosition->Altitude; |
| RangedTargetPosition.Status = NEWDATA; |
| } |
| else |
| { // the target is located within the operation radius area |
| // simple copy the loaction to the ranged target position |
| GPS_CopyPosition(GPS_pTargetPosition, &RangedTargetPosition); |
| NaviData.NCFlags &= ~NC_FLAG_RANGE_LIMIT; |
| } |
| } |
| else |
| { // deviation could not be determined |
| GPS_ClearPosition(&RangedTargetPosition); |
| } |
| GPS_pTargetPosition->Status = PROCESSED; // mark current target as processed! |
| } |
| } |
| OperatingRadiusOld = GPS_Parameter.OperatingRadius; |
| // remember last target position pointer |
| pTargetPositionOld = GPS_pTargetPosition; |
| /* Calculate position deviation from ranged target */ |
| // calculate deviation of current position to ranged target position in cm |
| if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition)) |
| { |
| // implement your control code here based |
| // in the info available in the TargetDeviation, GPSData and FromFlightCtrl.GyroHeading |
| GPS_Stick.Nick = 0; |
| GPS_Stick.Roll = 0; |
| GPS_Stick.Yaw = 0; |
| } |
| else // deviation could not be calculated |
| { // do nothing on gps sticks! |
| GPS_Neutral(); |
| } |
| }// eof if GPSSignal is OK |
| else // GPSSignal not OK |
| { |
| GPS_Neutral(); |
| // beep if signal is not sufficient |
| if(GPS_Parameter.FlightMode != GPS_FLIGHT_MODE_FREE) |
| { |
| if(!(GPSData.Flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
| else if (GPSData.NumOfSats < GPS_Parameter.MinSat && !(beep_rythm % 5)) BeepTime = 10; |
| } |
| } |
| GPSData.Status = PROCESSED; // mark as processed |
| break; |
| } |
| else |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ No Fix |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| { |
| GPS_Nick = 0; // reset value |
| GPS_Roll = 0; // reset value |
| if(!(GPS_Data.Flags & 0x01) && !(beep_rythm % 5)) BeepTime = 100; |
| else if (GPS_Data.Used_Sat < GPS_SAT_MIN && !(beep_rythm % 5)) BeepTime = 10; |
| } |
| } |
| return (0); |
| DebugOut.Analog[27] = (s16)TargetDeviation.North; |
| DebugOut.Analog[28] = (s16)TargetDeviation.East; |
| DebugOut.Analog[29] = GPS_Stick.Nick; |
| DebugOut.Analog[30] = GPS_Stick.Roll; |
| // update navi data, send back to ground station |
| GPS_CopyPosition(&(GPSData.Position), &(NaviData.CurrentPosition)); |
| GPS_CopyPosition(&RangedTargetPosition, &(NaviData.TargetPosition)); |
| NaviData.SatsInUse = GPSData.NumOfSats; |
| NaviData.TargetPositionDeviation.Distance = TargetDeviation.Distance; |
| NaviData.TargetPositionDeviation.Bearing = TargetDeviation.Bearing; |
| NaviData.UBat = FC.UBat; |
| NaviData.GroundSpeed = (u16)GPSData.Speed_Ground; |
| NaviData.Heading = (s16)GPSData.Heading; |
| NaviData.CompassHeading = (s16)FromFlightCtrl.GyroHeading; |
| NaviData.AngleNick = FromFlightCtrl.IntegralNick / 10; |
| NaviData.AngleRoll = FromFlightCtrl.IntegralRoll / 10; |
| NaviData.RC_Quality = (u8) FC.RC_Quality; |
| NaviData.MKFlags = (u8)FC.MKFlags; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| return; |
| } |
| /trunk/GPS.h |
|---|
| 1,36 → 1,24 |
| #ifndef __GPS_H |
| #define __GPS_H |
| #include "waypoints.h" |
| #define GPS_SAT_MIN 6 |
| #define GPS_FIX 0x01 |
| struct str_GPSParameter |
| typedef struct |
| { |
| float Amplification; |
| float P; |
| float I; |
| float D; |
| float V; |
| float A; |
| float ACC; |
| s32 ModeSchalter; |
| } __attribute__((packed)); |
| s16 Nick; |
| s16 Roll; |
| s16 Yaw; |
| } __attribute__((packed)) GPS_Stick_t; |
| extern struct str_GPSParameter GPSParameter; |
| extern GPS_Pos_t GPS_HomePosition; |
| extern GPS_Pos_t * GPS_pTargetPosition; |
| extern Waypoint_t* GPS_pWaypoint; |
| extern u8 OsdBar; |
| extern s16 OsdDistance; |
| extern s16 GPS_Nick; |
| extern s16 GPS_Roll; |
| extern GPS_Stick_t GPS_Stick; |
| extern u8 Navigation(void); |
| extern void GPS_Init(void); |
| extern s32 TargetListeLong[20]; |
| extern s32 TargetListeLat[20]; |
| extern u32 ActualTargetNumber; |
| extern u32 StoreTargetNumber; |
| void GPS_Navigation(void); |
| void GPS_Init(void); |
| extern u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt); |
| #endif //__GPS_H |
| #endif |
| /trunk/Hex-Files/Navi-Ctrl_STR9_Release.hex |
|---|
| 0,0 → 1,7504 |
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| :10D0DC00252A7300252E2A64000000002563252BC9 |
| :04D0EC002E3264007C |
| :10D0F00048656C6C6F20576F726C64000000000014 |
| :10D10000000000000000000000000000000000001F |
| :10D11000000000000000000000000000000000000F |
| :10D1200000000000000000000000000000000000FF |
| :10D1300000000000000000000000000000000000EF |
| :10D140000C00000020000000500000004000000023 |
| :10D150006764656766000000050000005061726149 |
| :10D160006D657465723120202020202031323334E7 |
| :10D17000353637383930313233343536373839305F |
| :10D180003132333435363738393031320100DEC888 |
| :10D19000E6506172616D6574657232202020202036 |
| :10D1A0002031323334353637383930313233343553 |
| :10D1B0003637383930313233343536373839303123 |
| :10D1C0003201000000DC506172616D65746572327D |
| :10D1D0003220202020203132333435363738393070 |
| :10D1E00031323334353637383930313233343536FD |
| :10D1F00037383930313201000000DC00BC720000E9 |
| :10D20000F4250100F4250100F4250100F4250100B6 |
| :10D21000F4250100F4250100F4250100F4250100A6 |
| :10D22000F4250100F4250100F4250100F425010096 |
| :10D23000F4250100F4250100F4250100F425010086 |
| :10D2400040720000F4250100F4250100F4250100DE |
| :10D25000F4250100F4250100F4250100F425010066 |
| :10D26000F4250100F4250100F4250100F425010056 |
| :10D27000F425010000E100000000080004010000A6 |
| :10D280006C7400003C750000687600008476000035 |
| :10D290008876000038770000F87700007877000083 |
| :10D2A0009C770000C07700000000000040000000F4 |
| :10D2B000F4250100F4250100F4250100F425010006 |
| :10D2C000F4250100F4250100F4250100F4250100F6 |
| :10D2D000F425010018AC0100120000002AAC010086 |
| :10D2E000430000006DAC01000400000071AC0100BF |
| :10D2F0002600000097AC01003C000000D3AC010008 |
| :10D300001600000000000000000000000100000006 |
| :10D3100000E100E1FF0000000050005C016400003B |
| :10D32000E8030000E8030000FFFFFFFF0DC0A0E1DD |
| :10D3300000D82DE904B04CE21523A0E30010A0E3CF |
| :10D34000041082E50630A0E3003082E50C1082E58F |
| :10D350000830A0E3183082E50FE0A0E101F0A0E181 |
| :04D3600000A81BE91D |
| :10D36400F4050004A8D00100B0D00100CC020004F0 |
| :10D37400E0180004E0D00100E8D00100B8D00100BA |
| :0CD38400A018000400B90100DC02000445 |
| :0CD3900000000000000000000000000091 |
| :10D39C00BCD00100C4D0010000CC0100CCD00100F5 |
| :10D3AC00D0D00100D4D00100D8D00100DCD00100D5 |
| :10D3BC00FC050004E00200042803000470030004D0 |
| :04D3CC00E002000477 |
| :10D3D000200100000000000000000000000000002C |
| :10D3E00028030004180600041807000418060004A7 |
| :10D3F000180600041806000418060004EC020004D5 |
| :10D40000BCA80100C4A8010000000000CCA80100D5 |
| :10D4100000000000000000001001000000000000FB |
| :10D420000000000001000000700300041807000461 |
| :10D43000180800041807000418070004180700045F |
| :10D440001807000434030004BCA80100C4A80100AC |
| :10D4500000000000CCA80100000000000000000057 |
| :10D4600010020000000000000000000002000000A8 |
| :10D4700000000000000000000000000000000000AC |
| :10D480000000000000000000000000007C03000419 |
| :10D49000BCA80100C4A8010000000000CCA8010045 |
| :08D4A000000000000000000084 |
| :00000001FF |
| /trunk/Hex-Files |
|---|
| Property changes: |
| Added: tsvn:logminsize |
| +10 |
| \ No newline at end of property |
| /trunk/Navi-Ctrl.Uv2 |
|---|
| 11,7 → 11,6 |
| Group (USB-Lib) |
| File 1,1,<.\main.c><main.c> |
| File 1,1,<.\uart.c><uart.c> |
| File 1,1,<.\interrupt.c><interrupt.c> |
| File 1,1,<.\ramfunc.c><ramfunc.c> |
| File 1,1,<.\menu.c><menu.c> |
| 19,12 → 18,10 |
| File 1,1,<.\timer.c><timer.c> |
| File 1,1,<.\spi_slave.c><spi_slave.c> |
| File 1,1,<.\i2c.c><i2c.c> |
| File 1,1,<.\GPS.c><GPS.c> |
| File 1,1,<.\GPSUart.c><GPSUart.c> |
| File 1,1,<.\usb.c><usb.c> |
| File 1,1,<.\fat16.c><fat16.c> |
| File 1,1,<.\sdc.c><sdc.c> |
| File 1,1,<.\settings.c><settings.c> |
| File 1,1,<.\sdc.c><sdc.c> |
| File 1,1,<.\ssc.c><ssc.c> |
| File 1,1,<.\usb_desc.c><usb_desc.c> |
| File 1,1,<.\usb_endp.c><usb_endp.c> |
| 31,16 → 28,21 |
| File 1,1,<.\usb_istr.c><usb_istr.c> |
| File 1,1,<.\usb_prop.c><usb_prop.c> |
| File 1,1,<.\usb_pwr.c><usb_pwr.c> |
| File 1,1,<.\led.c><led.c> |
| File 1,1,<.\crc16.c><crc16.c> |
| File 1,1,<.\ubx.c><ubx.c> |
| File 1,1,<.\uart0.c><uart0.c> |
| File 1,1,<.\uart1.c><uart1.c> |
| File 1,1,<.\uart2.c><uart2.c> |
| File 1,1,<.\kml.c><kml.c> |
| File 2,5,<.\kml.h><kml.h> |
| File 2,5,<.\crc16.h><crc16.h> |
| File 1,1,<.\fifo.c><fifo.c> |
| File 1,1,<.\waypoints.c><waypoints.c> |
| File 1,1,<.\GPS.c><GPS.c> |
| File 2,5,<.\ramfunc.h><ramfunc.h> |
| File 2,5,<.\main.h><main.h> |
| File 2,5,<.\uart.h><uart.h> |
| File 2,5,<.\menu.h><menu.h> |
| File 2,5,<.\printf_P.h><printf_P.h> |
| File 2,5,<.\91x_conf.h><91x_conf.h> |
| File 2,5,<.\settings.h><settings.h> |
| File 2,5,<.\timer.h><timer.h> |
| File 2,5,<.\usb.h><usb.h> |
| File 2,5,<.\spi_slave.h><spi_slave.h> |
| 49,9 → 51,17 |
| File 2,5,<.\ssc.h><ssc.h> |
| File 2,5,<.\fat16.h><fat16.h> |
| File 2,5,<.\GPS.h><GPS.h> |
| File 2,5,<.\GPSUart.h><GPSUart.h> |
| File 2,5,<.\settings.h><settings.h> |
| File 2,5,<.\libstr91x\include\91x_lib.h><91x_lib.h> |
| File 2,5,<.\led.h><led.h> |
| File 2,5,<.\crc16.h><crc16.h> |
| File 2,5,<.\ubx.h><ubx.h> |
| File 2,5,<.\uart0.h><uart0.h> |
| File 2,5,<.\uart1.h><uart1.h> |
| File 2,5,<.\uart2.h><uart2.h> |
| File 2,5,<.\kml_header.h><kml_header.h> |
| File 2,5,<.\kml.h><kml.h> |
| File 2,5,<.\fifo.h><fifo.h> |
| File 2,5,<.\waypoints.h><waypoints.h> |
| File 3,2,<.\startup912.s><startup912.s> |
| File 4,1,<.\libstr91x\src\91x_scu.c><91x_scu.c> |
| File 4,1,<.\libstr91x\src\91x_gpio.c><91x_gpio.c> |
| 64,8 → 74,8 |
| File 4,1,<.\libstr91x\src\91x_wiu.c><91x_wiu.c> |
| File 6,1,<.\usblibrary\src\usb_regs.c><usb_regs.c> |
| File 6,1,<.\usblibrary\src\usb_core.c><usb_core.c> |
| File 6,1,<.\usblibrary\src\usb_int.c><usb_int.c> |
| File 6,1,<.\usblibrary\src\usb_init.c><usb_init.c> |
| File 6,1,<.\usblibrary\src\usb_int.c><usb_int.c> |
| File 6,1,<.\usblibrary\src\usb_mem.c><usb_mem.c> |
| File 6,5,<.\usbinc\usb_pwr.h><usb_pwr.h> |
| File 6,5,<.\usbinc\hw_config.h><hw_config.h> |
| 75,13 → 85,13 |
| Options 1,0,0 // Target 'Navi-Ctrl' |
| Device (STR910FM32) |
| Device (STR911FM44) |
| Vendor (STMicroelectronics) |
| Cpu (IRAM(0x04000000-0x0400FFFF) IROM(0x0-0x3FFFF) IROM2(0x400000-0x407FFF) CLOCK(25000000) CPUTYPE(ARM9E)) |
| Cpu (IRAM(0x04000000-0x04017FFF) IROM(0x0-0x7FFFF) IROM2(0x400000-0x407FFF) CLOCK(25000000) CPUTYPE(ARM9E)) |
| FlashUt () |
| StupF ("STARTUP\ST\STR91x.s" ("STR91x Startup Code")) |
| FlashDR (UL2ARM(-UU0639C7E -O15 -S0 -C1 -N00("ST uPSD Flash") -D00(04570041) -L00(8) -N01("ARM966E-S Core") -D01(25966041) -L01(4) -N02("ST Boundary Scan") -D02(0457F041) -L02(5) -FO15 -FD4000000 -FC800 -FN2 -FF0STR91xFxx2 -FS00 -FL040000 -FF1STR91xB1 -FS1400000 -FL18000)) |
| DevID (4118) |
| FlashDR (UL2ARM(-UU0639C7E -O15 -S0 -C1 -N00("ST uPSD Flash") -D00(04570041) -L00(8) -N01("ARM966E-S Core") -D01(25966041) -L01(4) -N02("ST Boundary Scan") -D02(0457F041) -L02(5) -FO15 -FD4000000 -FC800 -FN2 -FF0STR91xFxx4 -FS00 -FL080000 -FF1STR91xB1 -FS1400000 -FL18000)) |
| DevID (4069) |
| Rgf (91x_lib.H) |
| Mem () |
| C () |
| 121,8 → 131,8 |
| GCPUTYP (ARM9E) |
| TFlagsA { 0,12,32,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 } |
| OCMARM { 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 } |
| OCMARAM { 0,0,0,0,4,0,0,1,0 } |
| OCMAROM { 1,0,0,0,0,0,0,4,0 } |
| OCMARAM { 0,0,0,0,4,0,128,1,0 } |
| OCMAROM { 1,0,0,0,0,0,0,8,0 } |
| OCMXRAM { 0,0,0,0,0,0,0,0,0 } |
| OCMIRAM2 { 0,0,0,48,0,0,16,0,0 } |
| OCMIROM2 { 1,0,0,64,0,0,128,0,0 } |
| 153,33 → 163,11 |
| ALDICDR () |
| ALDMISC () |
| ALDSCAT (.\scripts\flash_str9.ld) |
| OPTDL (SARM.DLL)(-cSTR91x)(DARMST9.DLL)(-pSTR910)(SARM.DLL)(-cSTR91x)(TARMST9.DLL)(-pSTR910) |
| OPTDL (SARM.DLL)(-cSTR91x)(DARMST9.DLL)(-pSTR911)(SARM.DLL)(-cSTR91x)(TARMST9.DLL)(-pSTR911) |
| OPTDBG 48126,0,()()()()()()()()()() (BIN\UL2ARM.DLL)()()() |
| FLASH1 { 9,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 } |
| FLASH1 { 9,0,0,0,1,0,0,0,0,16,0,0,0,0,0,0,0,0,0,0 } |
| FLASH2 (BIN\UL2ARM.DLL) |
| FLASH3 () |
| FLASH3 ("" ()) |
| FLASH4 () |
| EndOpt |
| Options 1,1,0 // Group 'Source Code' |
| PropFld { 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 } |
| IncBld=2 |
| AlwaysBuild=2 |
| GenAsm=2 |
| AsmAsm=2 |
| PublicsOnly=2 |
| StopCode=11 |
| CustArgs () |
| LibMods () |
| ACCFLG { 170,2,16,32,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 } |
| ACMISC () |
| ACDEFN () |
| ACUDEF () |
| ACINCD () |
| AASFLG { 10,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 } |
| AAMISC () |
| AADEFN () |
| AAUDEF () |
| AAINCD () |
| EndOpt |
| /trunk/Obj/Navi-Ctrl_STR9.hex |
|---|
| 0,0 → 1,7120 |
| :1000000018F09FE518F09FE518F09FE518F09FE5C0 |
| :1000100018F09FE50000A0E118F09FE518F09FE5BB |
| :1000200050010000400000004400000048000000B3 |
| :100030004C000000000000005000000054000000D0 |
| :10004000230000EA1A0000EA280000EA2F0000EA74 |
| :10005000000000EA350000EA04E04EE2FF5F2DE90F |
| :1000600000104FE102002DE92C029FE5000090E511 |
| :1000700028129FE5001091E50000A0E10000A0E13A |
| :100080001FF021E300402DE914E29FE500F0A0E11C |
| :100090000040BDE8D2F021E3FC019FE5000080E5CF |
| :1000A000F8119FE5001081E50200BDE801F06FE165 |
| :1000B000FF9FFDE8FF5F2DE900104FE102002DE9F1 |
| :1000C0000D10A0E1830200EB0200BDE801F06FE13A |
| :1000D000FF9FFDE8FF5F2DE900104FE102002DE9D1 |
| :1000E000850200EB0200BDE801F06FE1FF9FFDE833 |
| :1000F00004E04EE2FF5F2DE900104FE102002DE920 |
| :10010000860200EB0200BDE801F06FE1FF9FFDE811 |
| :1001100008E04EE2FF5F2DE900104FE102002DE9FB |
| :100120006D0200EB0200BDE801F06FE1FF9FFDE80A |
| :1001300004E04EE2FF402DE900104FE102002DE9FE |
| :10014000750200EB0200BDE801F06FE1FF80FDE801 |
| :1001500050119FE50020A0E3011041E2020051E1AF |
| :10016000FCFFFF8A40019FE540119FE5341080E5C8 |
| :1001700034019FE538119FE5001080E50000A0E103 |
| :100180000000A0E10000A0E10000A0E10000A0E16B |
| :100190000000A0E10000A0E10000A0E10000A0E15B |
| :1001A0000000A0E10000A0E10000A0E10000A0E14B |
| :1001B0000000A0E10000A0E10000A0E10267A0E3D0 |
| :1001C0006070A0E3B070C6E1E8609FE50370A0E353 |
| :1001D000B070C6E1E0109FE5041080E5081090E5DE |
| :1001E000011011E2FCFFFF0AD0109FE5001080E52E |
| :1001F000CC109FE51C1080E5C8109FE5201080E51D |
| :10020000C4009FE5D1F021E300D0A0E1800040E2EE |
| :10021000D2F021E300D0A0E1020B40E2D7F021E3CD |
| :1002200000D0A0E1040040E2DBF021E300D0A0E137 |
| :10023000040040E2D3F021E300D0A0E1800040E2DE |
| :1002400010F021E300D0A0E101AB4DE27C109FE56E |
| :100250007C209FE57C309FE5030052E1040091344F |
| :1002600004008234FBFFFF3A0000A0E368109FE522 |
| :1002700068209FE5020051E104008134FCFFFF3A51 |
| :100280000000A0E358109FE558209FE5020051E1CF |
| :1002900004008134FCFFFF3A000100EA30F0FFFF68 |
| :1002A000300000FC9000000020A107000020005C4E |
| :1002B00096010000020002004030080019C00B0047 |
| :1002C00080000200731B000001C8FE0000800104D2 |
| :1002D000F0B8010000000004B8030004C0030004EB |
| :1002E000A8180004A8180004A81800040DC0A0E174 |
| :1002F00000D82DE904B04CE20200A0E30E3000EB80 |
| :100300000000A0E3393000EB020CA0E3E13000EB89 |
| :100310008000A0E37C3000EB1C00E0E3663000EBE3 |
| :100320006000E0E36E3000EBC000A0E31910A0E332 |
| :100330000320A0E3143000EB0100A0E32B3000EB1E |
| :100340000000A0E3FC2F00EB00A81BE90DC0A0E11A |
| :1003500010D82DE904B04CE220D04DE22C404BE205 |
| :100360006930A0E300308DE50400A0E114109FE5A2 |
| :100370000020A0E30C30A0E35D5900EB0400A0E1F5 |
| :10038000652500EB10A81BE95CAC01000DC0A0E1E5 |
| :1003900010D82DE904B04CE208D04DE28C109FE556 |
| :1003A0000A30D1E5000053E30000A00310A81B09A8 |
| :1003B0007C009FE5002090E5003091E5030052E1CC |
| :1003C0000A00000AB020D1E1B020C0E10230D1E53E |
| :1003D0000230C0E50330D1E50330C0E50130A0E3D1 |
| :1003E0000A30C0E54C309FE50020A0E3B020C3E117 |
| :1003F00038109FE5B020D1E10230D1E50310D1E5FE |
| :1004000000108DE52C409FE5B010D4E104108DE57F |
| :1004100024009FE524109FE5355900EBB030D4E16E |
| :10042000013083E2B030C4E10C009FE510A81BE965 |
| :1004300080080004E8030004C6030004C8030004A5 |
| :1004400074AC01000DC0A0E100D82DE904B04CE26D |
| :1004500000329FE5003093E5000053E30900001AE5 |
| :100460001603A0E30B0A80E28010A0E30120A0E3C2 |
| :10047000E83200EBE0019FE5E0119FE51C5900EB3D |
| :100480000320A0E3490000EAD4319FE5003093E562 |
| :10049000000053E30900001A1603A0E30B0A80E2F0 |
| :1004A0008010A0E30120A0E3DA3200EBA8019FE571 |
| :1004B000B0119FE50E5900EB0420A0E33B0000EAD9 |
| :1004C000A4319FE50330D3E5030053E30D00000A98 |
| :1004D0001603A0E30B0A80E28010A0E30120A0E352 |
| :1004E000CC3200EB70019FE580119FE5005900EBD5 |
| :1004F0000130A0E378219FE5003082E574219FE57B |
| :100500000030C2E54B0000EA6C319FE50330D3E5D3 |
| :10051000020053E30900000A3C019FE55C119FE5DE |
| :10052000F35800EB1603A0E30B0A80E28010A0E36F |
| :100530000120A0E3B73200EB0220A0E31B0000EA99 |
| :100540003C319FE5003093E5000053E30900001AB9 |
| :100550001603A0E30B0A80E28010A0E30120A0E3D1 |
| :10056000AC3200EBF0009FE518119FE5E05800EB7E |
| :100570000520A0E30D0000EA0C319FE50020D3E543 |
| :100580000130D3E5A333B0E10E00000A1603A0E367 |
| :100590000B0A80E28010A0E30120A0E39D3200EB73 |
| :1005A000B4009FE5E4109FE5D15800EB0620A0E3DE |
| :1005B000BC309FE5002083E50120A0E3B4309FE537 |
| :1005C0000020C3E51B0000EAC4309FE50830D3E5F6 |
| :1005D000630053E30B00008A1603A0E30B0A80E2DA |
| :1005E0008010A0E30120A0E38A3200EB68009FE5C1 |
| :1005F000A0109FE5BE5800EB0720A0E370309FE5F8 |
| :10060000002083E50B0000EA4C009FE588109FE581 |
| :10061000B75800EB0020A0E354309FE5002083E5AD |
| :1006200050309FE50020C3E51603A0E30B0A80E2EB |
| :100630008010A0E3773200EB0020A0E314309FE5A8 |
| :10064000002083E538309FE5002083E510309FE5EA |
| :10065000002083E500A81BE9080400040808000442 |
| :1006600094AC01001C040004ACAC0100300900048F |
| :10067000C8AC0100C0030004C5030004D009000495 |
| :10068000DCAC0100B4040004F4AC0100A8090004CF |
| :100690000CAD01004808000420AD010030AD0100A0 |
| :1006A0000DC0A0E170D82DE904B04CE264D04DE259 |
| :1006B0000050A0E30CFFFFEB7C004BE2B62600EB02 |
| :1006C0002000A0E30110A0E3A52F00EB2000A0E391 |
| :1006D0000510A0E1B82F00EB2C3400EBF50000EB87 |
| :1006E000740600EBF01C00EBE82000EB40039FE5F4 |
| :1006F000892400EBDC2500EB622000EB4F0E00EBC1 |
| :10070000940700EB440B00EB292A00EBDC0F00EB15 |
| :100710000500A0E3AA0600EB18339FE5000083E57F |
| :10072000FA00A0E3A60600EB0C339FE5000083E58A |
| :10073000BB0EA0E3080080E2A10600EBFC329FE5BF |
| :10074000000083E5E8029FE5732400EBF0029FE5DB |
| :10075000712400EBFCFEFFEBFC0A00EBE4329FE5AA |
| :100760000330D3E5030053E30600000AD8029FE5F7 |
| :10077000692400EB1603A0E30B0A80E28010A0E3DB |
| :100780000120A0E3233200EBE80D00EBBC329FE533 |
| :100790000330D3E5020053E30600000AB0029FE5F0 |
| :1007A0005D2400EB1603A0E30B0A80E28010A0E3B7 |
| :1007B0000120A0E3173200EB98029FE5562400EBDE |
| :1007C00094329FE50030D3E5000053E32C23001B57 |
| :1007D0006D2400EBC50700EBE82100EB7C329FE5C0 |
| :1007E000003093E5050053E31F00000A44329FE503 |
| :1007F000000093E5780600EBFF0010E31A00000A02 |
| :100800005C329FE5000093E5730600EBFF0010E308 |
| :100810000400000A4C029FE53F2400EBB50B00EBFF |
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| /trunk/fat16.c |
|---|
| 54,39 → 54,40 |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdio.h> |
| #include "91x_lib.h" |
| #include "timer.h" |
| #include "fat16.h" |
| #include "sdc.h" |
| #include "uart1.h" |
| #include "main.h" |
| //________________________________________________________________________________________________________________________________________ |
| // Module name: fat16.c |
| // Compiler used: avr-gcc 3.4.5 |
| // Last Modifikation: 21.04.2008 |
| // Version: 1.28 |
| // Authors: Stephan Busker |
| // Description: Source files for FAT16 implementation with read and write-access using AVR-Mikrocontrollers |
| // Copyright (C) 2007 Stephan Busker |
| // Last Modifikation: 16.06.2008 |
| // Version: 2.00 |
| // Authors: Stephan Busker & Gregor Stobrawa |
| // Description: Source files for FAT16 implementation with read and write-access |
| // Copyright (C) 2008 Stephan Busker & Gregor Stobrawa |
| //........................................................................................................................................ |
| // Functions: extern u8 InitFat16(void); |
| // u8 fopen_(s8 *fname,s8 mode, File *file); |
| // void fclose_(File *file); |
| // u32 fread_(void *buffer, u32 size, u32 count, File *file); |
| // u32 fwrite_(void *buffer, u32 size, u32 count, File *file); |
| // s16 fseek_(File *file, s32 offset, s16 origin); |
| // s8 fgets_(s8 *string, s16 count, File *file); |
| // u8 fputchar_(File *file,s8 c); |
| // u8 fputs_(File *file,s8 *string); |
| // s8 * fgets(s8 *, s16, File); |
| // u8 fexist_(u8*); |
| // u8 mkdir__(s8 *name); |
| // u8 chdir__(s8 *name); |
| // u8 findfirst_(s8 *fname, Find *item, u8 attribute); |
| // u8 findnext_(Find *item); |
| // u8 fdelete_(s8 *fname) |
| // u8 rmdir_(s8 *dname) |
| // u16 feof_(File); |
| // Functions: extern s16 Fat16_Init(void); |
| // extern s16 Fat16_Deinit(void); |
| // extern File_t * fopen_(const u8 *filename, const s8 mode); |
| // extern s16 fclose_(File_t *File); |
| // extern s16 fflush_(File_t *File); |
| // extern s16 fseek_(File_t *File, s32 offset, s16 origin); |
| // extern s16 fgetc_(File_t *File); |
| // extern s16 fputc_(u8 c, File_t *File); |
| // extern u32 fread_(void *buffer, u32 size, u32 count, File_t *File); |
| // extern u32 fwrite_(void *buffer, u32 size, u32 count, File_t *File); |
| // extern s16 fputs_(const u8 *string, File_t *File); |
| // extern u8 * fgets_(u8 *string, s16 length, File_t *File); |
| //........................................................................................................................................ |
| // ext. functions: extern u8 SDC_GetSector (u32,u8 *); |
| // extern u8 SDC_PutSector (u32,u8 *); |
| // ext. functions: extern SD_Result_t SDC_Init(void;) |
| // extern SD_Result_t SDC_Deinit(void); |
| // extern SD_Result_t SDC_GetSector (u32,u8 *); |
| // extern SD_Result_t SDC_PutSector (u32,u8 *); |
| //........................................................................................................................................ |
| // |
| // URL: www.Mikro-Control.de |
| 93,1444 → 94,1717 |
| // mailto: stephan.busker@mikro-control.de |
| //________________________________________________________________________________________________________________________________________ |
| /* |
| FAT16 Drive Layout: |
| Description Offset |
| Volume Boot Sector Start of Partition |
| Fat Tables Start + # of Reserved Sectors |
| Root Directory Entry Start + # of Reserved + (# of Sectors Per FAT * 2) |
| Data Area (Starts with Cluster #2) Start + # of Reserved + (# of Sectors Per FAT * 2) + ((Maximum Root Directory Entries * 32) / Bytes per Sector) |
| */ |
| //________________________________________________________________________________________________________________________________________ |
| // |
| // Global variables needed for read- or write-acces to the FAT16- filesystem. |
| // |
| //________________________________________________________________________________________________________________________________________ |
| /* |
| ________________________________________________________________________________________________________________________________________ |
| Structure of an partition entry |
| ________________________________________________________________________________________________________________________________________ |
| u8 SectorsPerCluster = 0; // how many sectors does a cluster contain? |
| u8 FatCopies = 0; // Numbers of copies of the FAT |
| u16 PossibleRootEntries = 0; // Possible number of entries in the root directory. |
| u16 SectorsPerFat = 0; // how many sectors does a fat16 contain? |
| u32 ReservedSectors = 0; // Sectors reserved by the filesystem. |
| u32 FirstPartitionSector = 0; // Distance in sectors between the first partition and the master bootrecord. |
| u32 FileAllocationTable = 0; // pointer to the first FAT |
| u32 RootDirectory = 0; // Pointer to the rootdirectory of the first partition. |
| u32 FirstDataCluster = 0; // Pointer to the first cluster containing data (cluster0). |
| u32 CWD = 0; // Pointer startcluster to the current working directory |
| Partition Entry is 16 bytes long |
| */ |
| typedef struct |
| { |
| u8 PartitionState; // Current State of Partition (00h=Inactive, 80h=Active) |
| u8 BeginningHead; // Beginning of Partition - Head |
| u16 BeginningCylSec; // Beginning of Partition - Cylinder/Sector (See Below) |
| u8 Type; // Type of Partition (See List Below) |
| u8 EndHead; // End of Partition - Head |
| u16 EndCylSec; // End of Partition - Cylinder/Sector |
| u32 NoSectorsBeforePartition; // Number of Sectors between the MBR and the First Sector in the Partition |
| u32 NoSectorsPartition ; // Number of Sectors in the Partition |
| } __attribute__((packed)) PartitionEntry_t; |
| /* |
| Coding of Cylinder/Sector words |
| struct DirEntry *DirectoryEntry; // Pointer to an entry of the directory. |
| struct FatEntry *Fat; // Pointer to an entry of the fat (next clusterposition). |
| Cylinder is 10 bits: [7:0] at [15:8] and [9:8] at [7:6] |
| Sector is 5 bits: [5:0] at [5:0] |
| */ |
| File FilePointer[__MAX_FILES_USED]; // Allocate Memmoryspace for each filepointer used. |
| // Partition Types: |
| #define PART_TYPE_UNKNOWN 0x00 |
| #define PART_TYPE_FAT12 0x01 |
| #define PART_TYPE_XENIX 0x02 |
| #define PART_TYPE_FAT16_ST_32_MB 0x04 |
| #define PART_TYPE_EXTDOS 0x05 |
| #define PART_TYPE_FAT16_LT_32_MB 0x06 |
| #define PART_TYPE_NTFS 0x07 |
| #define PART_TYPE_FAT32 0x0B |
| #define PART_TYPE_FAT32LBA 0x0C |
| #define PART_TYPE_FAT16LBA 0x0E |
| #define PART_TYPE_EXTDOSLBA 0x0F |
| #define PART_TYPE_EISA 0x12 |
| #define PART_TYPE_ONTRACK 0x33 |
| #define PART_TYPE_NOVELL 0x40 |
| #define PART_TYPE_DYNAMIC 0x42 |
| #define PART_TYPE_PCIX 0x4B |
| #define PART_TYPE_LINUX_SWAP 0x82 |
| #define PART_TYPE_LINUX_NATIVE 0x83 |
| #define PART_TYPE_LINUX_LVM 0x8E |
| #define PART_TYPE_PHOENIXSAVE 0xA0 |
| #define PART_TYPE_FREEBSD 0xA5 |
| #define PART_TYPE_OPENBSD 0xA6 |
| #define PART_TYPE_NETNBSD 0xA9 |
| #define PART_TYPE_CPM 0xDB |
| #define PART_TYPE_DBFS 0xE0 |
| #define PART_TYPE_BBT 0xFF |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: InitFat16(void); |
| // |
| // Description: This function reads the Masterbootrecord and finds the position of the Volumebootrecord, the FAT and the Rootdirectory |
| // and stores the information in global variables. |
| // |
| // Returnvalue: The function returns "0" if the filesystem could not be initialized because no partition was found on the volume. |
| //________________________________________________________________________________________________________________________________________ |
| /* |
| ________________________________________________________________________________________________________________________________________ |
| Structure of the MasterBootRecord |
| ________________________________________________________________________________________________________________________________________ |
| u8 InitFat16(void) |
| { |
| u8 retvalue = 0; |
| u8 cnt = 0; |
| struct VBR_Entry *VBR; // Pointer to the VolumeBootRecord. |
| struct MBR_Entry *MBR; // Pointer to the masterbootrecord. |
| File *file; |
| Master Boot Record is 512 bytes long |
| The Master Boot Record is the same for pretty much all Operating Systems. |
| It is located on the first Sector of the Hard Drive, at Cylinder 0, Head 0, Sector 1 |
| */ |
| typedef struct |
| { |
| u8 ExecutableCode[446]; // 446 bytes for machine start code |
| PartitionEntry_t PartitionEntry1; // 16 bytes for partition entry 1 |
| PartitionEntry_t PartitionEntry2; // 16 bytes for partition entry 2 |
| PartitionEntry_t PartitionEntry3; // 16 bytes for partition entry 3 |
| PartitionEntry_t PartitionEntry4; // 16 bytes for partition entry 4 |
| u16 ExecutableMarker; // BIOS-Signature (0x55 0xAA) |
| } __attribute__((packed)) MBR_Entry_t; |
| for(cnt=0;cnt<__MAX_FILES_USED;cnt++) |
| { |
| FilePointer[cnt].state = _UNUSED; // declare the filepointers as unused. |
| } |
| file = &FilePointer[0]; |
| SerialPutString("\n\rFAT16 init..."); |
| while((SDC_Init() != SD_SUCCESS) && (cnt++<100)); |
| /* |
| ________________________________________________________________________________________________________________________________________ |
| Structure of the VolumeBootRecord |
| ________________________________________________________________________________________________________________________________________ |
| if(cnt <100) // sdcard initialised succesfully |
| { |
| SDC_GetSector((u32)_MBR_SECTOR,file->buffer); // Read the MasterBootRecord from mmc. |
| MBR = (struct MBR_Entry *) file->buffer; |
| FirstPartitionSector = MBR->PartitionEntry1.NoSectorsBeforePartition; |
| if((MBR->PartitionEntry1.Type == _FAT16_32_MB_BIOS_Extension) || |
| (MBR->PartitionEntry1.Type == _FAT16_ST_32_MB) || |
| (MBR->PartitionEntry1.Type == _FAT16_LT_32_MB)) |
| { |
| SDC_GetSector(FirstPartitionSector,file->buffer); // Read the volume bootrecord from mmc. |
| VBR = (struct VBR_Entry *) file->buffer; // Enter the VBR using the structure VBR_Entry. |
| SectorsPerCluster = VBR->SectorsPerCluster; // Number of sectors per cluster. Depends on the memorysize of the sd-card. |
| FatCopies = VBR->NoFATCopies; // Number of fatcopies. |
| PossibleRootEntries = VBR->MaxRootEntries; // How many Entries are possible in the rootdirectory (FAT16 allows max. 512 entries). |
| SectorsPerFat = VBR->SectorsPerFAT; // The number of sectors per FAT. |
| ReservedSectors = VBR->ReservedSectors; // calculate the sectorpositon of the FAT, the Rootdirectory and the first Datacluster. |
| The Volume Boot Record is 512 bytes long |
| This information is located in the first sector of every partition. |
| */ |
| typedef struct |
| { |
| u8 JumpCode[3]; // Jump Code + NOP |
| s8 OEMName[8]; // OEM Name |
| u16 BytesPerSector; // Bytes Per Sector |
| u8 SectorsPerCluster; // Sectors Per Cluster |
| u16 ReservedSectors; // Reserved Sectors |
| u8 NoFATCopies; // Number of Copies of FAT |
| u16 MaxRootEntries; // Maximum Root Directory Entries |
| u16 NoSectorsInPartSml32MB; // Number of Sectors in Partition Smaller than 32 MB |
| u8 MediaDescriptor; // Media Descriptor (0xF8 for Hard Disks) |
| u16 SectorsPerFAT; // Sectors Per FAT |
| u16 SectorsPerTrack; // Sectors Per Track |
| u16 NoHeads; // Number of Heads |
| u32 NoHiddenSectors; // Number of Hidden Sectors in Partition |
| u32 NoSectors; // Number of Sectors in Partition |
| u16 DriveNo; // Logical Drive Number of Partition |
| u8 ExtendedSig; // Extended Signature (0x29) |
| u32 SerialNo; // Serial Number of the Partition |
| s8 VolumeName[11]; // Volume Name of the Partititon |
| s8 FATName[8]; // FAT Name (FAT16) |
| u8 ExecutableCode[446]; // 446 bytes for machine start code |
| u16 ExecutableMarker; // Executable Marker (0x55 0xAA) |
| } __attribute__((packed)) VBR_Entry_t; |
| FileAllocationTable = (u32)(FirstPartitionSector + (u32)ReservedSectors); // Calculate the position of the FileAllocationTable. |
| RootDirectory = (u32)((u32)FileAllocationTable + (u32)((u32)SectorsPerFat*(u32)FatCopies)); // Calculate the position of the Rootdirectory. |
| FirstDataCluster = (u32)((u32)RootDirectory + ((u32)(PossibleRootEntries>>4))); // Calculate the position of the first datacluster. |
| CWD = RootDirectory; // The actual directory is the rootdirectory. |
| retvalue = 1; |
| SerialPutString("\n\rfilesystem ok"); |
| str_Volume.state = INITIALIZED; |
| } |
| else |
| { |
| str_Volume.state = NOT_INITIALIZED; |
| SerialPutString("\n\rfilesystem nok"); |
| } |
| } |
| return(retvalue); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: File * fopen_(u8*, u8 *); |
| // |
| // Description: This function looks for the file to be opened in the directory specified by the variable "CWD" of the drive. |
| // If the file was found this function returns a filepoiner to the opened file otherwise NULL// |
| // |
| // Return: Pointer to the opened file or NULL |
| // |
| //________________________________________________________________________________________________________________________________________ |
| File * fopen_(s8 *fname, s8 mode) |
| /* |
| ________________________________________________________________________________________________________________________________________ |
| Structure of an directory entry |
| ________________________________________________________________________________________________________________________________________ |
| Directory entry is 32 bytes. |
| */ |
| typedef struct |
| { |
| File *file; |
| file = ReserveFilePointer(); // reserve a filepointer. |
| if(file != NULL) // A free filepointer was found. |
| { |
| file->mode = mode; // mode of fileoperation (read,write) |
| s8 Name[8]; // 8 bytes name, padded with spaces. |
| u8 Extension[3]; // 3 bytes extension, padded with spaces. |
| u8 Attribute; // attribute of the directory entry (unused,archive,read-only,system,directory,volume) |
| u8 Reserved[10]; // reserved bytes within the directory entry. |
| u32 DateTime; // date and time of last write access to the file or directory. |
| u16 StartCluster; // first cluster of the file or directory. |
| u32 Size; // size of the file or directory in bytes. |
| } __attribute__((packed)) DirEntry_t; |
| if(SeekFileInDirectory(fname, file)) // if file was found |
| { |
| SerialPutString("ok"); |
| if(mode == 'a') // open existing file for writing (append data at the end of the file) |
| { |
| fseek_(file, 0, SEEK_END); // fseek points to the end of the file |
| } |
| } |
| else |
| { |
| if((mode == 'a') || (mode == 'w')) // specified file doesn't exist so create new file for writing data. |
| { |
| if(CreateFileInDirectory(fname,file)) // Could an entry for the new file in the rootdirectory be created? |
| { |
| return(file); |
| } |
| else |
| { |
| FreeFilePointer(file); // free the filepointer. |
| file = NULL; |
| } |
| } |
| else // file with mode 'r' not found |
| { |
| FreeFilePointer(file); // free the filepointer. |
| file = NULL; // file not found |
| } |
| } |
| } |
| return(file); |
| } |
| #define SLOT_EMPTY 0x00 // slot has never been used |
| #define SLOT_E5 0x05 // the real value is 0xe5 |
| #define SLOT_DELETED 0xE5 // file in this slot deleted |
| #define ATTR_NONE 0x00 // normal file |
| #define ATTR_READONLY 0x01 // file is readonly |
| #define ATTR_HIDDEN 0x02 // file is hidden |
| #define ATTR_SYSTEM 0x04 // file is a system file |
| #define ATTR_VOLUMELABEL 0x08 // entry is a volume label |
| #define ATTR_LONG_FILENAME 0x0F // this is a long filename entry |
| #define ATTR_SUBDIRECTORY 0x10 // entry is a directory name |
| #define ATTR_ARCHIVE 0x20 // file is new or modified |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: fflush_(File *file); |
| // |
| // Description: This function writes the data already in the buffer but not yet written to the file. |
| // |
| //________________________________________________________________________________________________________________________________________ |
| /* |
| ________________________________________________________________________________________________________________________________________ |
| Structure of an entry within the fileallocationtable. |
| ________________________________________________________________________________________________________________________________________ |
| */ |
| typedef struct |
| { |
| u16 NextCluster; // the next cluster of the file. |
| } __attribute__((packed)) Fat16Entry_t; |
| s16 fflush_(File *file) |
| // secial fat entries |
| #define FAT16_CLUSTER_FREE 0x0000 |
| #define FAT16_CLUSTER_RESERVED 0x0001 |
| #define FAT16_CLUSTER_USED_MIN 0x0002 |
| #define FAT16_CLUSTER_USED_MAX 0xFFEF |
| #define FAT16_CLUSTER_ROOTDIR_MIN 0xFFF0 |
| #define FAT16_CLUSTER_ROOTDIR_MAX 0xFFF6 |
| #define FAT16_CLUSTER_BAD 0xFFF7 |
| #define FAT16_CLUSTER_LAST_MIN 0xFFF8 |
| #define FAT16_CLUSTER_LAST_MAX 0xFFFF |
| /*****************************************************************************************************************************************/ |
| /* */ |
| /* Global variables needed for read- or write-acces to the FAT16- filesystem. */ |
| /* */ |
| /*****************************************************************************************************************************************/ |
| #define MBR_SECTOR 0x00 // the masterboot record is located in sector 0. |
| #define DIRENTRY_SIZE 32 //bytes |
| #define DIRENTRIES_PER_SECTOR BYTES_PER_SECTOR/DIRENTRY_SIZE |
| #define FAT16_BYTES 2 |
| #define FAT16_ENTRIES_PER_SECTOR BYTES_PER_SECTOR/FAT16_BYTES |
| #define FSTATE_UNUSED 0 |
| #define FSTATE_USED 1 |
| typedef struct |
| { |
| u16 time=0; |
| u16 date=0; |
| u8 IsValid; // 0 means invalid, else valid |
| u8 SectorsPerCluster; // how many sectors does a cluster contain? |
| u8 FatCopies; // Numbers of copies of the FAT |
| u16 MaxRootEntries; // Possible number of entries in the root directory. |
| u16 SectorsPerFat; // how many sectors does a fat16 contain? |
| u32 FirstFatSector; // sector of the start of the fat |
| u32 FirstRootDirSector; // sector of the rootdirectory |
| u32 FirstDataSector; // sector of the first cluster containing data (cluster2). |
| u32 LastDataSector; // the last data sector of the partition |
| } Partition_t; |
| if(file && ((file->mode =='a') || (file->mode =='w'))) |
| { |
| if(file->byte_index > 0) // has data been added to the file? |
| { |
| SDC_PutSector((u32)(file->cluster_pointer + file->sector_index),file->buffer);// save the data still in the buffer |
| } |
| SDC_GetSector((u32)file->directory_sector,file->buffer); // read the directoryentry for this file. |
| DirectoryEntry = (struct DirEntry *)file->buffer; |
| DirectoryEntry[file->directory_index].size = (u32) file->filesize; |
| DirectoryEntry[file->directory_index].time = (u16) time; |
| DirectoryEntry[file->directory_index].date = (u16) date; |
| SDC_PutSector((u32)file->directory_sector,file->buffer); |
| } |
| return(0); |
| } |
| Partition_t Partition; // Structure holds partition information |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: fclose_(File *file); |
| // |
| // Description: This function closes the open file by writing the remaining data from the buffer to the device and entering the filesize |
| // in the directory entry. |
| //________________________________________________________________________________________________________________________________________ |
| File_t FilePointer[FILE_MAX_OPEN]; // Allocate Memmoryspace for each filepointer used. |
| void fclose_(File *file) |
| /****************************************************************************************************************************************/ |
| /* Function: FileDateTime(DateTime_t *); */ |
| /* */ |
| /* Description: This function calculates the DOS date time from a pointer to a time structure. */ |
| /* */ |
| /* Returnvalue: Returns the DOS date time. */ |
| /****************************************************************************************************************************************/ |
| u32 FileDateTime(DateTime_t * pTimeStruct) |
| { |
| u32 datetime = 0; |
| if((pTimeStruct == 0) || !(pTimeStruct->Valid)) return datetime; |
| if(file != NULL) |
| { |
| fflush_(file); // save buffered data to the disk |
| } |
| FreeFilePointer(file); // and free the filepointer. |
| datetime |= (0x0000007FL & (u32)(pTimeStruct->Year - 1980))<<25; // set year |
| datetime |= (0x0000000FL & (u32)(pTimeStruct->Month))<<21; // set month |
| datetime |= (0x0000001FL & (u32)(pTimeStruct->Day))<<16; |
| datetime |= (0x0000001FL & (u32)(pTimeStruct->Hour))<<11; |
| datetime |= (0x0000003FL & (u32)(pTimeStruct->Min))<<5; |
| datetime |= (0x0000001FL & (u32)(pTimeStruct->Sec/2)); |
| return datetime; |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u32 fread_(void *buffer, s32 size, s32 count, File *file); |
| // |
| // Description: This function reads count objects of the specified size from the actual position of the file to the specified buffer. |
| // |
| // Returnvalue: The function returns the number of objects (not bytes) read from the file. |
| // |
| //________________________________________________________________________________________________________________________________________ |
| u32 fread_(void *buffer, u32 size, u32 count, File *file) |
| /****************************************************************************************************************************************/ |
| /* Function: LockFilePointer(); */ |
| /* */ |
| /* Description: This function trys to lock a free file pointer. */ |
| /* */ |
| /* Returnvalue: Returns the Filepointer on success or 0. */ |
| /****************************************************************************************************************************************/ |
| File_t * LockFilePointer(void) |
| { |
| u32 object_cnt = 0; // count the number of objects read from the file. |
| u32 object_size = 0; // count the number of bytes read from the actual object. |
| u8 *buff_pnt = 0; // a pointer to the actual bufferposition. |
| u8 success = 1; // no error occured during read operation to the file. |
| buff_pnt = (u8 *) buffer; // cast the void pointer to an u8 * |
| while((object_cnt < count) && success) |
| u8 i; |
| File_t * File = 0; |
| for(i = 0; i < FILE_MAX_OPEN; i++) |
| { |
| object_size = size; |
| while((size > 0) && success) |
| if(FilePointer[i].State == FSTATE_UNUSED) // found an unused one |
| { |
| *buff_pnt = (u8) fgetchar_(file); // read a byte from the buffer to the opened file. |
| buff_pnt++; |
| size--; |
| File = &FilePointer[i]; // set pointer to that entry |
| FilePointer[i].State = FSTATE_USED; // mark it as used |
| break; |
| } |
| if(success) object_cnt++; |
| } |
| return(object_cnt); // return the number of objects succesfully read from the file |
| } |
| return(File); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u32 fwrite_(void *buffer, s32 size, s32 count, File *file); |
| // |
| // Description: This function writes count objects of the specified size from the buffer to the actual positon within the file. |
| // |
| // Returnvalue: The function returns the number of objects (not bytes) written to the file. |
| // |
| //________________________________________________________________________________________________________________________________________ |
| u32 fwrite_(void *buffer, u32 size, u32 count, File *file) |
| /****************************************************************************************************************************************/ |
| /* Function: UnlockFilePointer(file_t *); */ |
| /* */ |
| /* Description: This function trys to unlock a file pointer. */ |
| /* */ |
| /* Returnvalue: Returns 1 if file pointer was freed else 0. */ |
| /****************************************************************************************************************************************/ |
| u8 UnlockFilePointer(File_t * file) |
| { |
| u32 object_cnt = 0; // count the number of objects written to the file. |
| u32 object_size = 0; // count the number of bytes written from the actual object. |
| u8 *buff_pnt = 0; // a pointer to the actual bufferposition. |
| u8 success = 1; // no error occured during write operation to the file. |
| buff_pnt = (u8 *) buffer; // cast the void pointer to an u8 * |
| while((object_cnt < count) && success) |
| u8 cnt; |
| if(file == NULL) return(0); |
| for(cnt = 0; cnt < FILE_MAX_OPEN; cnt++) |
| { |
| object_size = size; |
| while((size > 0) && success) |
| if(&FilePointer[cnt] == file) // filepointer to be freed found? |
| { |
| success = fputchar_(file, *buff_pnt); // write a byte from the buffer to the opened file. |
| buff_pnt++; |
| size--; |
| file->State = FSTATE_UNUSED; |
| file->FirstSectorOfFirstCluster = 0; // Sectorpointer to the first sector of the first datacluster of the file. |
| file->FirstSectorOfCurrCluster = 0; |
| file->SectorOfCurrCluster = 0; // Pointer to the cluster which is edited at the moment. |
| file->SectorOfCurrCluster = 0; // The sector which is edited at the moment (cluster_pointer + sector_index). |
| file->ByteOfCurrSector = 0; // The bytelocation within the current sector (cluster_pointer + sector_index + byte_index). |
| file->Mode = 0; // mode of fileoperation (read,write) |
| file->Size = 0; // the size of the opend file in bytes. |
| file->Position = 0; // pointer to a character within the file 0 < fileposition < filesize |
| file->SectorInCache = 0; // the last sector read, wich is still in the sectorbuffer. |
| file->DirectorySector = 0; // the sectorposition where the directoryentry has been made. |
| file->DirectoryIndex = 0; // the index to the directoryentry within the specified sector. |
| file->Attribute = 0; // the attribute of the file opened. |
| file = NULL; |
| return(1); |
| } |
| if(success) object_cnt++; |
| } |
| return(object_cnt); // return the number of objects succesfully written to the file |
| } // (!!!!! objects and not bytes !!!!) |
| } |
| return(0); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: s16 fseek_(File *, s32, s16) |
| // |
| // Description: This function sets the pointer of the stream relative to the position |
| // specified by origin (SEEK_SET, SEEK_CUR, SEEK_END). |
| // |
| //________________________________________________________________________________________________________________________________________ |
| /****************************************************************************************************************************************/ |
| /* Function: SeperateDirName(s8*, s8*); */ |
| /* */ |
| /* Description: This function seperates the first dirname from filepath and brings them */ |
| /* into the needed format ('test.txt' -> 'TEST TXT') */ |
| /* The subpath is the pointer to the remaining substring if the filepath */ |
| /* */ |
| /* Returnvalue: Return NULL on error or pointer to subpath */ |
| /****************************************************************************************************************************************/ |
| s8* SeperateDirName(const s8 *filepath, s8 *dirname) |
| { |
| s8* subpath = NULL; |
| u8 readpointer = 0; |
| u8 writepointer = 0; |
| s16 fseek_(File *file, s32 offset, s16 origin) |
| { |
| s32 fposition = 0; |
| s16 retvalue = 1; |
| u32 temp = 0; |
| //...................................................... |
| if(origin == SEEK_SET) // Fileposition relative to the beginning of the file. |
| // search subpath from beginning of filepath |
| subpath = NULL; |
| readpointer = 0; |
| if(filepath[0] == '/') readpointer = 1; // ignore first '/' |
| while(subpath == NULL) // search the filepath until a subpath was found. |
| { |
| fposition = 0; |
| } |
| //...................................................... |
| else if(origin == SEEK_END) // Fileposition relative to the end of the file. |
| { |
| fposition = (s32) file->filesize; |
| } |
| //...................................................... |
| else if(origin == SEEK_CUR) // Fileposition relative to the current position of the file. |
| { |
| fposition = file->fileposition; |
| } |
| if(((filepath[readpointer] == 0) || (filepath[readpointer] == '/'))) // if '/' found or end of filepath reached |
| { |
| subpath = (s8*)&filepath[readpointer]; // store the position of the first "/" found after the beginning of the filenpath |
| } |
| readpointer++; |
| } |
| fposition += offset; |
| if((fposition >= 0) && (fposition <= (s32)file->filesize)) // is the pointer still within the file? |
| // clear dirname with spaces |
| dirname[11] = 0; // terminate dirname |
| for(writepointer = 0; writepointer < 11; writepointer++) dirname[writepointer] = ' '; |
| writepointer = 0; |
| // start seperating the dirname from the filepath. |
| readpointer = 0; |
| if(filepath[0] == '/') readpointer = 1; // ignore first '/' |
| while( &filepath[readpointer] < subpath) |
| { |
| retvalue = 0; |
| file->sector_index = 0; |
| file->byte_index = 0; |
| file->fileposition = 0; |
| file->cluster_pointer = file->start_cluster; |
| while(file->fileposition < fposition) |
| if(writepointer >= 11) return(NULL); // dirname to long |
| if(filepath[readpointer] == '.') // seperating dirname and extension. |
| { |
| file->fileposition++; |
| if(file->byte_index < 511) |
| if(writepointer <= 8) |
| { |
| file->byte_index++; |
| readpointer++; // next character in filename |
| writepointer = 8; // jump to start of extension |
| } |
| else return(NULL); // dirbasename to long |
| } |
| else |
| { |
| if((0x60 < filepath[readpointer]) && (filepath[readpointer] < 0x7B)) |
| { |
| dirname[writepointer] = (filepath[readpointer] - 0x20); // all characters must be upper case. |
| } |
| else |
| { |
| file->byte_index=0; // reading at the beginning of new sector. |
| file->sector_index++; // continue reading in next sector |
| if(file->sector_index >= SectorsPerCluster) // When end of cluster is reached, the next datacluster has to be searched in the FAT. |
| { |
| if(file->fileposition < fposition) |
| { |
| file->sector_index = 0; // start reading new cluster at first sector of the cluster. |
| GetNextCluster(file); // Sets the clusterpointer of the file to the next datacluster. |
| } |
| } |
| dirname[writepointer] = filepath[readpointer]; |
| } |
| readpointer++; |
| writepointer++; |
| } |
| if(file->byte_index) |
| { |
| temp = (u32)((u32)file->cluster_pointer + (u32)file->sector_index); |
| SDC_GetSector((u32)temp,file->buffer); // FileBuffer will be written at once at the end of the cluster and has to be updated. |
| } |
| } |
| return(retvalue); |
| } |
| return(subpath); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: fgetchar_(File *file); |
| // |
| // Description: This function reads and returns one character from the specified file. |
| // |
| // Returnvalue: The function returns the character read from the specified memorylocation as u8 casted to s16 or EOF. |
| //________________________________________________________________________________________________________________________________________ |
| s16 fgetchar_(File *file) |
| { |
| s16 c = EOF; |
| u32 temp1; |
| if(((file->fileposition)+1) < file->filesize) // wen the end of the file is not reached, get the next character. |
| /**************************************************************************************************************************************+*/ |
| /* Function: Fat16ClusterToSector( u16 cluster); */ |
| /* */ |
| /* Description: This function converts a cluster number given by the fat to the corresponding */ |
| /* sector that points to the start of the data area that is represented by the cluster number. */ |
| /* */ |
| /* Returnvalue: The sector number with the data area of the given cluster */ |
| /****************************************************************************************************************************************/ |
| u32 Fat16ClusterToSector(u16 cluster) |
| { |
| if(!Partition.IsValid) return 0; |
| if (cluster < 2) cluster = 2; // the 0. and 1. cluster in the fat are used for the media descriptor |
| return ( (cluster - 2) * Partition.SectorsPerCluster) + Partition.FirstDataSector; // the first data sector is represented by the 2nd cluster |
| } |
| /****************************************************************************************************************************************/ |
| /* Function: SectorToFat16Cluster( u32 sector); */ |
| /* */ |
| /* Description: This function converts a given sector number given to the corresponding */ |
| /* cluster number in the fat that represents this data area. */ |
| /* */ |
| /* Returnvalue: The cluster number representing the data area of the sector. */ |
| /****************************************************************************************************************************************/ |
| u16 SectorToFat16Cluster(u32 sector) |
| { |
| if(!Partition.IsValid) return 0; |
| return ((u16)((sector - Partition.FirstDataSector) / Partition.SectorsPerCluster) + 2); |
| } |
| /****************************************************************************************************************************************/ |
| /* Function: Fat16_Deinit(void); */ |
| /* */ |
| /* Description: This function uninitializes the fat 16 api */ |
| /* */ |
| /* Returnvalue: The function returns "0" on success */ |
| /****************************************************************************************************************************************/ |
| u8 Fat16_Deinit(void) |
| { |
| s16 returnvalue = 0; |
| u8 cnt; |
| // declare the filepointers as unused. |
| for(cnt = 0; cnt < FILE_MAX_OPEN; cnt++) |
| { |
| temp1 = (u32)file->cluster_pointer; // calculate the adress of the next character to be read. |
| temp1 += (u32)file->sector_index; |
| if(file->sector_in_buffer != temp1) // Has the content of the buffer been modified and has to be updated? |
| if(FilePointer[cnt].State == FSTATE_USED) |
| { |
| SDC_GetSector((u32)temp1,file->buffer); // Read the calculated cluster. |
| file->sector_in_buffer = (u32)temp1; |
| } |
| c = (s16) file->buffer[file->byte_index]; |
| file->fileposition++; |
| if(file->byte_index < 511) // continue reading from this sector until the end of the sector is reached. |
| { |
| file->byte_index++; |
| returnvalue += fclose_(&FilePointer[cnt]); // try to close open file pointers |
| } |
| else // has the end of an sector been reached-> |
| { |
| file->byte_index=0; // continue reading at the beginning - |
| file->sector_index++; // of new sector. |
| if(file->sector_index >= SectorsPerCluster) // When the end of an cluster is reached, the next datacluster has to be searched in the FAT. |
| { |
| file->sector_index = 0; // start reading new cluster at first sector of the cluster. |
| GetNextCluster(file); // Sets the clusterpointer of the file to the next datacluster. |
| } |
| } |
| } |
| return(c); |
| SDC_Deinit(); // uninitialize interface to sd-card |
| Partition.IsValid = 0; // mark data in partition structure as invalid |
| return(returnvalue); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: fputchar_(File *file, s8 *); |
| // |
| // Description: This function writes a byte to the specified file and takes care of writing the necessary FAT- Entries. |
| // |
| // Returnvalue: The function returns a value of 0 if the data could not be written. |
| //________________________________________________________________________________________________________________________________________ |
| /****************************************************************************************************************************************/ |
| /* Function: Fat16_Init(void); */ |
| /* */ |
| /* Description: This function reads the Masterbootrecord and finds the position of the Volumebootrecord, the FAT and the Rootdir */ |
| /* and stores the information in global variables. */ |
| /* */ |
| /* Returnvalue: The function returns "0" if the filesystem is initialized. */ |
| /****************************************************************************************************************************************/ |
| u8 Fat16_Init(void) |
| { |
| u8 cnt = 0; |
| u32 partitionfirstsector; |
| VBR_Entry_t *VBR; |
| MBR_Entry_t *MBR; |
| File_t *file; |
| u8 result = 0; |
| u8 fputchar_(File *file,s8 c) |
| { |
| u32 ul_temp = 0; |
| u8 retvalue = 1; |
| if(file->sector_index >= SectorsPerCluster) // if end of the cluster is reached, find next free cluster |
| SerialPutString("\r\n FAT16 init..."); |
| Partition.IsValid = 0; |
| // declare the filepointers as unused. |
| for(cnt = 0; cnt < FILE_MAX_OPEN; cnt++) |
| { |
| file->sector_index = 0; |
| if(!AppendCluster(file)) retvalue = 0; // append a new and free cluster at the end of the file. |
| FilePointer[cnt].State = FSTATE_UNUSED; |
| } |
| // set current file pinter to first position in list |
| file = &FilePointer[0]; |
| // try to initialise the sd-card. |
| if(SD_SUCCESS != SDC_Init()) |
| { |
| SerialPutString("SD-Card could not be initialized."); |
| result = 1; |
| goto end; |
| } |
| file->buffer[file->byte_index] = c; // write databyte into the buffer. The byte will be written to the device at once |
| if(file->filesize == file->fileposition) file->filesize++; // a character has been written to the file so the size is inkremented but only when the character has been added at the end of the file. |
| file->fileposition++; // the actual positon within the file. |
| // if the buffer contains the complete sectordata. |
| if(file->byte_index < 511) // if the end of this sector is not reached yet |
| // SD-Card is initialized successfully |
| if(SD_SUCCESS != SDC_GetSector((u32)MBR_SECTOR,file->Cache)) // Read the MasterBootRecord |
| { |
| file->byte_index++; // the next byte will be written to the next byteposition in this sector. |
| SerialPutString("Error reading the MBR."); |
| result = 2; |
| goto end; |
| } |
| else // otherwise the data in the sectorbuffer will be written to the device and the next sector will be selected. |
| MBR = (MBR_Entry_t *)file->Cache; // Enter the MBR using the structure MBR_Entry_t. |
| if((MBR->PartitionEntry1.Type == PART_TYPE_FAT16_ST_32_MB) || |
| (MBR->PartitionEntry1.Type == PART_TYPE_FAT16_LT_32_MB) || |
| (MBR->PartitionEntry1.Type == PART_TYPE_FAT16LBA)) |
| { |
| ul_temp = (u32)file->cluster_pointer; |
| ul_temp += (u32)file->sector_index; |
| SDC_PutSector((u32)ul_temp,file->buffer); |
| file->byte_index=0; // and the next byte will be written at the beginning of this new sector. |
| file->sector_index++; |
| if(file->sector_index >= SectorsPerCluster) // if end of the cluster is reached, find next free cluster |
| // get sector offset 1st partition |
| partitionfirstsector = MBR->PartitionEntry1.NoSectorsBeforePartition; |
| // Start of Partition is the Volume Boot Sector |
| if(SD_SUCCESS != SDC_GetSector(partitionfirstsector,file->Cache)) // Read the volume boot record |
| { |
| file->sector_index = 0; |
| if(!AppendCluster(file)) retvalue = 0; // append a new and free cluster at the end of the file. |
| } |
| SerialPutString("Error reading the VBR."); |
| result = 3; |
| goto end; |
| } |
| } |
| return(retvalue); |
| else // maybe the medium has no partition assuming sector 0 is the vbr |
| { |
| partitionfirstsector = 0; |
| } |
| VBR = (VBR_Entry_t *) file->Cache; // Enter the VBR using the structure VBR_Entry_t. |
| if(VBR->BytesPerSector != BYTES_PER_SECTOR) |
| { |
| SerialPutString("VBR: Sector size not supported."); |
| result = 4; |
| goto end; |
| } |
| Partition.SectorsPerCluster = VBR->SectorsPerCluster; // Number of sectors per cluster. Depends on the memorysize of the sd-card. |
| Partition.FatCopies = VBR->NoFATCopies; // Number of fatcopies. |
| Partition.MaxRootEntries = VBR->MaxRootEntries; // How many Entries are possible in the rootdirectory (FAT16 allows max. 512 entries). |
| Partition.SectorsPerFat = VBR->SectorsPerFAT; // The number of sectors per FAT. |
| /* Calculate the sectorpositon of the FAT, the Rootdirectory and the first Datacluster. */ |
| // Calculate the position of the FileAllocationTable: |
| // Start + # of Reserved Sectors |
| Partition.FirstFatSector = (u32)(partitionfirstsector + (u32)(VBR->ReservedSectors)); |
| // Calculate the position of the Rootdirectory: |
| // Start + # of Reserved Sectors + (# of Sectors Per FAT * # of FAT Copies) |
| Partition.FirstRootDirSector = Partition.FirstFatSector + (u32)((u32)Partition.SectorsPerFat*(u32)Partition.FatCopies); |
| // Calculate the position of the first datacluster: |
| // Start + # of Reserved + (# of Sectors Per FAT * # of FAT Copies) + ((Maximum Root Directory Entries * 32) / Bytes per Sector) |
| Partition.FirstDataSector = Partition.FirstRootDirSector + (u32)(Partition.MaxRootEntries>>4); // assuming 512 Byte Per Sector |
| // Calculate the last data sector |
| if(VBR->NoSectors == 0) |
| { |
| SerialPutString("VBR: Bad number of sectors."); |
| result = 5; |
| goto end; |
| } |
| Partition.LastDataSector = Partition.FirstDataSector + VBR->NoSectors - 1; |
| // check for FAT16 in VBR of first partition |
| if(!((VBR->FATName[0]=='F') && (VBR->FATName[1]=='A') && (VBR->FATName[2]=='T') && (VBR->FATName[3]=='1')&&(VBR->FATName[4]=='6'))) |
| { |
| SerialPutString("VBR: Partition ist not FAT16 type."); |
| result = 6; |
| goto end; |
| } |
| Partition.IsValid = 1; // mark data in partition structure as valid |
| result = 0; |
| end: |
| if(result != 0) Fat16_Deinit(); |
| else SerialPutString("ok"); |
| return(result); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: fputs_(File *file, s8 *string); |
| // |
| // Description: This function writes a zero terminated string to the specified file. |
| // |
| //________________________________________________________________________________________________________________________________________ |
| u8 fputs_(File *file,s8 * string) |
| /****************************************************************************************************************************************/ |
| /* Function: ClearCurrCluster(File_t*); */ |
| /* */ |
| /* Description: This function fills the current cluster with 0. */ |
| /* */ |
| /* Returnvalue: The function returns 1 on success else 0. */ |
| /****************************************************************************************************************************************/ |
| u8 ClearCurrCluster(File_t * file) |
| { |
| u8 i=0; |
| u8 retvalue = 1; |
| u32 i; |
| while(string[i] != 0) |
| if((!Partition.IsValid) || (file == NULL)) return(0); |
| for(i = 0; i < BYTES_PER_SECTOR; i++) file->Cache[i] = 0; // clear file cache |
| for(i = 0; i < Partition.SectorsPerCluster; i++) |
| { |
| fputchar_(file,string[i]); |
| i++; |
| file->SectorInCache = file->FirstSectorOfCurrCluster + i; |
| if(SD_SUCCESS != SDC_PutSector(file->SectorInCache, file->Cache)) |
| { |
| Fat16_Deinit(); |
| retvalue = 0; |
| } |
| } |
| return(0); |
| return(retvalue); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: s8 * fgets_(s8 *string, s16 count, File *file) |
| // |
| // Description: This function reads a string from the file to the specifies string until EOF or end of line was detected.. |
| // |
| // Returnvalue: A pointer to the string or NULL if EOF was read from the file with no other characters before. |
| //________________________________________________________________________________________________________________________________________ |
| s8 * fgets_(s8 *string, s16 count, File *file) |
| /*****************************************************************************************************************************************/ |
| /* Function: GetNextCluster(File_t* ); */ |
| /* */ |
| /* Description: This function finds the next datacluster of the file specified with File *File. */ |
| /* */ |
| /* Returnvalue: The function returns the next cluster or 0 if the last cluster has already reached. */ |
| /*****************************************************************************************************************************************/ |
| u16 GetNextCluster(File_t * file) |
| { |
| s16 buff_pnt = 0; |
| s16 buff_tmp = 0; |
| s8 *retvalue = 0; |
| u16 cluster = 0; |
| u32 fat_byte_offset, sector, byte; |
| Fat16Entry_t * fat; |
| retvalue = string; |
| while(count > 1) // read the count-1 characters from the file to the string. |
| if((!Partition.IsValid) || (file == NULL)) return(cluster); |
| // if sector is within the data area |
| if((Partition.FirstDataSector <= file->FirstSectorOfCurrCluster)&& (file->FirstSectorOfCurrCluster <= Partition.LastDataSector)) |
| { |
| buff_tmp = fgetchar_(file); // read a character from the opened file. |
| if(buff_tmp == EOF) // is the end of the file reached, terminate the string with zero. |
| // determine current file cluster |
| cluster = SectorToFat16Cluster(file->FirstSectorOfCurrCluster); |
| // calculate byte offset in the fat for corresponding entry |
| fat_byte_offset = ((u32)cluster)<<1; // two FAT bytes (16 bits) for every cluster |
| // calculate the sector that contains the current cluster within the fat |
| sector = Partition.FirstFatSector + ( fat_byte_offset / BYTES_PER_SECTOR); |
| // calculate byte offset of the current cluster within that fat sector |
| byte = fat_byte_offset % BYTES_PER_SECTOR; |
| // read this sector to the file cache |
| if(file->SectorInCache != sector) |
| { |
| if(buff_pnt != 0) // are there characters within the string? |
| file->SectorInCache = sector; // update sector stored in buffer |
| if(SD_SUCCESS != SDC_GetSector(file->SectorInCache, file->Cache)) // read sector from sd-card |
| { |
| break; |
| } |
| else |
| { |
| retvalue = NULL; // first character read was EOF -> return(NULL); |
| break; |
| } |
| } |
| else if(buff_tmp == 0x0A) // lf detected. |
| { |
| string[buff_pnt] = (s8) buff_tmp; // add lf to the string. |
| buff_pnt++; |
| break; |
| Fat16_Deinit(); |
| return (cluster); |
| } |
| } |
| // read the next cluster from cache |
| fat = (Fat16Entry_t *)(&(file->Cache[byte])); |
| cluster = fat->NextCluster; |
| // if last cluster fat entry |
| if(FAT16_CLUSTER_LAST_MIN <= cluster) |
| { |
| cluster = 0; |
| } |
| else |
| { |
| string[buff_pnt] = (s8) buff_tmp; |
| count--; |
| buff_pnt++; |
| file->FirstSectorOfCurrCluster = Fat16ClusterToSector(cluster); |
| file->SectorOfCurrCluster = 0; |
| file->ByteOfCurrSector = 0; |
| } |
| } |
| string[buff_pnt] = 0; // terminate string with zero |
| return(string); |
| } |
| return(cluster); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u8 fexist_(u8*); |
| // |
| // Description: This function searches the specified file and returns 0 if the file was not found. |
| // |
| // |
| // Return: 0 = file does not exist |
| // 1 = file exists |
| //________________________________________________________________________________________________________________________________________ |
| u8 fexist_(s8 *fname) |
| /****************************************************************************************************************************************/ |
| /* Function: FindNextFreeCluster(File_t *); */ |
| /* */ |
| /* Description: This function looks in the fat to find the next free cluster */ |
| /* */ |
| /* Returnvalue: The function returns the cluster number of the next free cluster found within the fat. */ |
| /****************************************************************************************************************************************/ |
| u16 FindNextFreeCluster(File_t *file) |
| { |
| File *file; |
| u32 fat_sector; // current sector within the fat relative to the first sector of the fat. |
| u32 curr_sector; // current sector |
| u16 fat_entry; // index to an fatentry within the actual sector (256 fatentries are possible within one sector). |
| u16 free_cluster = 0; // next free cluster number. |
| Fat16Entry_t * fat; |
| if((!Partition.IsValid) || (file == NULL)) return(0); |
| file = fopen_(fname,'r'); // try to open the specified file. |
| if(file != NULL) |
| // start searching for an empty cluster at the beginning of the fat. |
| fat_sector = 0; |
| do |
| { |
| FreeFilePointer(file); // Free the filepoint // free the filepointer |
| return(1); // file was found so return(1); |
| } |
| else |
| { |
| return(0); // file not found return(0); |
| } |
| curr_sector = Partition.FirstFatSector + fat_sector; // calculate sector to read |
| file->SectorInCache = curr_sector; // upate the sector number of file cache. |
| if( SD_SUCCESS != SDC_GetSector(file->SectorInCache, file->Cache)) // read sector of fat from sd-card. |
| { |
| Fat16_Deinit(); |
| return(free_cluster); |
| } |
| fat = (Fat16Entry_t *)file->Cache; // set fat pointer to file cache |
| for(fat_entry = 0; fat_entry < FAT16_ENTRIES_PER_SECTOR; fat_entry++) // look for an free cluster at all entries in this sector of the fat. |
| { |
| if(fat[fat_entry].NextCluster == FAT16_CLUSTER_FREE) // empty cluster found!! |
| { |
| fat[fat_entry].NextCluster = FAT16_CLUSTER_LAST_MAX; // mark this fat-entry as used |
| if(SD_SUCCESS != SDC_PutSector(file->SectorInCache, file->Cache)) // and save the sector at the sd-card. |
| { |
| Fat16_Deinit(); |
| return(free_cluster); |
| } |
| free_cluster = (u16)(fat_sector * FAT16_ENTRIES_PER_SECTOR + (u32)fat_entry); |
| fat_entry = FAT16_ENTRIES_PER_SECTOR; // terminate the search for a free cluster in this sector. |
| } |
| } |
| fat_sector++; // continue the search in next fat sector |
| // repeat until the end of the fat is reached and no free cluster has been found so far |
| }while((fat_sector < Partition.SectorsPerFat) && (!free_cluster)); |
| return(free_cluster); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: GetNextCluster(File *file); |
| // |
| // Description: This function finds the next datacluster of the file specified with File *file. |
| // |
| // Returnvalue: The function returns "0" if the last cluster has already been reached. |
| //________________________________________________________________________________________________________________________________________ |
| u16 GetNextCluster(File *file) |
| /****************************************************************************************************************************************************/ |
| /* Function: s16 fseek_(File_t *, s32 *, u8) */ |
| /* */ |
| /* Description: This function sets the pointer of the stream relative to the position */ |
| /* specified by origin (SEEK_SET, SEEK_CUR, SEEK_END) */ |
| /* Returnvalue: Is 1 if seek was successful */ |
| /****************************************************************************************************************************************************/ |
| s16 fseek_(File_t *file, s32 offset, s16 origin) |
| { |
| u32 fat_pointer = 0; |
| u32 fat_sector_offset = 0; |
| u32 ul_tmp = 0; |
| u8 retvalue = 0; // no new cluster found yet. |
| s32 fposition = 0; |
| s16 retvalue = 1; |
| if((file->cluster_pointer >= RootDirectory) && (file->cluster_pointer < (RootDirectory + 31))) |
| { // Is the next cluster searched within the rootdirectory and available? |
| file->cluster_pointer++; // the rootdirectory is a linear adress space of 32 clusters. |
| retvalue = 1; // and the next cluster has been found. |
| if((!Partition.IsValid) || (file == NULL)) return(0); |
| switch(origin) |
| { |
| case SEEK_SET: // Fileposition relative to the beginning of the file. |
| fposition = 0; |
| break; |
| case SEEK_END: // Fileposition relative to the end of the file. |
| fposition = (s32)file->Size; |
| break; |
| case SEEK_CUR: // Fileposition relative to the current position of the file. |
| default: |
| fposition = file->Position; |
| break; |
| } |
| else if(file->cluster_pointer > (RootDirectory + 31)) // The specified cluster is within the FAT. |
| fposition += offset; |
| if((fposition >= 0) && (fposition <= (s32)file->Size)) // is the pointer still within the file? |
| { |
| fat_sector_offset = ((file->cluster_pointer) - (FirstDataCluster)); // Calculate index of actual cluster within the FAT. |
| fat_sector_offset /= SectorsPerCluster; // calculate the index of the actual sector within the FAT. |
| fat_sector_offset += 2; // In Fat16 clusterpositions have an offset of two. |
| fat_pointer = (fat_sector_offset%0x100); // Calculate the sector within the cluster. |
| fat_sector_offset = (fat_sector_offset>>8); // and the position within the sector. |
| // reset file position to start of the file |
| file->FirstSectorOfCurrCluster = file->FirstSectorOfFirstCluster; |
| file->SectorOfCurrCluster = 0; |
| file->ByteOfCurrSector = 0; |
| file->Position = 0; |
| SDC_GetSector((u32)(FileAllocationTable + fat_sector_offset),file->buffer); |
| file->sector_in_buffer = (FileAllocationTable + fat_sector_offset); // Mark that new sector has been read. |
| ul_tmp = (u32)file->buffer[((fat_pointer << 1)+1)]; // Read next sector information from calculated clusterposition. |
| ul_tmp = (ul_tmp << 8); |
| ul_tmp |= (u32)file->buffer[(fat_pointer << 1)]; |
| ul_tmp -=2; // next datacluster is clusterposition in fat - 2. |
| ul_tmp *= SectorsPerCluster; // calculate sectorposition of new cluster |
| ul_tmp += FirstDataCluster; // in relation to first datacluster of the disk. |
| if(ul_tmp < 0xfff7) // has a new cluster been read or was the end of the fat reached? |
| while(file->Position < fposition) // repeat until the current position is less than target |
| { |
| file->cluster_pointer = (u32) ul_tmp; // continue reading the file at the beginning of new datacluster. |
| retvalue = 1; // a new cluster was found. |
| file->Position++; // increment file position |
| file->ByteOfCurrSector++; // next byte in current sector |
| if(file->ByteOfCurrSector >= BYTES_PER_SECTOR) |
| { |
| file->ByteOfCurrSector = 0; // reading at the beginning of new sector. |
| file->SectorOfCurrCluster++; // continue reading in next sector |
| if(file->SectorOfCurrCluster >= Partition.SectorsPerCluster) // if end of cluster is reached, the next datacluster has to be searched in the FAT. |
| { |
| if(GetNextCluster(file)) // Sets the clusterpointer of the file to the next datacluster. |
| { |
| file->SectorOfCurrCluster = 0; |
| } |
| else // the last cluster was allready reached |
| { |
| file->SectorOfCurrCluster--; // jump back to the ast sector in the last cluster |
| file->ByteOfCurrSector = BYTES_PER_SECTOR; // set ByteOfCurrSector one byte over sector end |
| } |
| } |
| } |
| } |
| } |
| if(file->Position == fposition) retvalue = 0; |
| return(retvalue); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u16 FindNextFreeCluster(void) |
| // |
| // Description: This function looks in the FAT to find the next free datacluster |
| // |
| // Returnvalue: The function returns the adress of the next free cluster found within the fAT. |
| //________________________________________________________________________________________________________________________________________ |
| u16 FindNextFreeCluster(File *file) |
| /****************************************************************************************************************************************/ |
| /* Function: u16 DeleteClusterChain(File *file); */ |
| /* */ |
| /* Description: This function trances along a cluster chain in the fat and frees all clusters visited. */ |
| /* */ |
| /****************************************************************************************************************************************/ |
| u8 DeleteClusterChain(u16 StartCluster) |
| { |
| u32 fat_pointer = 0; // Pointer to the first sector of the FAT. |
| u32 ul_tmp = 0; // temporary variable used to calculate a sectornumber. |
| u16 fat_sector_offset = 0; // index to a sector within the FAT. |
| u16 fat_entry = 0; // index to an fatentry within the actual sector (256 fatentries are possible within one sector). |
| u16 free_cluster = 0; // a pointer to the first sector of the next free cluster. |
| fat_pointer = (u32) FileAllocationTable; // start searching for empty cluster at the beginning of the fat. |
| // if the end of the fat is not reached yet and no free cluster has been found |
| while((fat_sector_offset < SectorsPerFat) && (!free_cluster)) |
| u16 cluster; |
| u32 fat_byte_offset, sector, byte; |
| Fat16Entry_t * fat; |
| u8 buffer[BYTES_PER_SECTOR]; |
| u32 sector_in_buffer = 0; |
| u8 repeat = 0; |
| if(!Partition.IsValid) return 0; |
| cluster = StartCluster; // init chain trace |
| // calculate byte offset in the fat for corresponding entry |
| fat_byte_offset = ((u32)cluster)<<1; // two FAT bytes (16 bits) for every cluster |
| // calculate the sector that contains the current cluster within the fat |
| sector = Partition.FirstFatSector + ( fat_byte_offset / BYTES_PER_SECTOR); |
| // calculate byte offset of the current cluster within that fat sector |
| byte = fat_byte_offset % BYTES_PER_SECTOR; |
| do |
| { |
| ul_tmp = (u32) ((u32)fat_pointer + (u32)fat_sector_offset); |
| SDC_GetSector((u32)ul_tmp,file->buffer); // read next sector of FAT. |
| file->sector_in_buffer = ul_tmp; // remember the number of the sector in FileBuffer. |
| Fat = (struct FatEntry *)file->buffer; |
| for(fat_entry=0;fat_entry<256;fat_entry++) // look for an free cluster at all entries in this sector of the fat. |
| if(sector != sector_in_buffer) |
| { |
| if(Fat[fat_entry].next_cluster == 0x0000) // empty cluster found!! |
| { |
| Fat[fat_entry].next_cluster = 0xffff; // mark this fat-entry as used and save it to the device. |
| SDC_PutSector((u32)file->sector_in_buffer,file->buffer); |
| free_cluster = fat_entry; // the relative position of the free cluster found in this sector of the FAT. |
| free_cluster += (fat_sector_offset << 8); // calculate the absolute position of the free cluster in the FAT; |
| fat_entry = 256; // terminate the search for a free cluster in this sector. |
| } |
| // read this sector to buffer |
| sector_in_buffer = sector; |
| if(SD_SUCCESS != SDC_GetSector(sector_in_buffer, buffer)) return 0; // read sector from sd-card |
| } |
| // read the next cluster from cache |
| fat = (Fat16Entry_t *)(&(buffer[byte])); |
| cluster = fat->NextCluster; |
| if((FAT16_CLUSTER_USED_MIN <= cluster) && (cluster <= FAT16_CLUSTER_USED_MAX) ) repeat = 1; |
| else repeat = 0; |
| fat->NextCluster = FAT16_CLUSTER_FREE; // mark current cluster as free |
| // calculate byte offset in the fat for corresponding entry |
| fat_byte_offset = ((u32)cluster)<<1; // two FAT bytes (16 bits) for every cluster |
| // calculate the sector that contains the current cluster within the fat |
| sector = Partition.FirstFatSector + ( fat_byte_offset / BYTES_PER_SECTOR); |
| // calculate byte offset of the current cluster within that fat sector |
| byte = fat_byte_offset % BYTES_PER_SECTOR; |
| // if new sector is not the sector in buffer or the last cluster in the chain was traced |
| if((sector != sector_in_buffer) || !repeat) |
| { // write sector in buffer |
| if(SD_SUCCESS != SDC_PutSector(sector_in_buffer,buffer)) return 0; |
| } |
| fat_sector_offset++; |
| } |
| return(free_cluster); |
| } |
| while(repeat); |
| return 1; |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u16 AppendCluster(File *file); |
| // |
| // Description: This function finds the next free datacluster on the disk and appends it to the specified file. |
| // |
| // Returnvalue: This funktion returns 1 if a cluster was appended to the specified file. |
| //________________________________________________________________________________________________________________________________________ |
| u8 AppendCluster(File *file) |
| /****************************************************************************************************************************************/ |
| /* Function: u16 AppendCluster(File *file); */ |
| /* */ |
| /* Description: This function looks in the fat to find the next free cluster and appends it to the file. */ |
| /* */ |
| /* Returnvalue: The function returns the appened cluster number or 0 of no cluster was appended. */ |
| /****************************************************************************************************************************************/ |
| u16 AppendCluster(File_t *file) |
| { |
| u16 free_cluster = 0; |
| u32 fat_pointer = 0; |
| u8 retvalue = 0; |
| u16 last_cluster, new_cluster = 0; |
| u32 fat_byte_offset, sector, byte; |
| Fat16Entry_t * fat; |
| free_cluster = FindNextFreeCluster(file); // the next free cluster found on the disk. |
| if(free_cluster) retvalue = 1; // A free cluster was found and can be added to the end of the file. |
| fat_pointer = FileAllocationTable; // Set Pointer to the beginnig of the FAT. |
| fat_pointer += (u32)((u32)GetFatClusterOffset(file) >> 8); // find the sector in the FAT with 256 entries per sector. |
| SDC_GetSector(fat_pointer,file->buffer); |
| Fat = (struct FatEntry *)file->buffer; |
| Fat[GetFatSectorIndex(file)].next_cluster = free_cluster; // append the free cluster to the end of the file in the FAT. |
| SDC_PutSector((u32)fat_pointer,file->buffer); // save the modified sector to the FAT. |
| if((!Partition.IsValid) || (file == NULL)) return(new_cluster); |
| fat_pointer = (u32)free_cluster; |
| fat_pointer -= 2; |
| fat_pointer *= SectorsPerCluster; |
| fat_pointer += FirstDataCluster; |
| new_cluster = FindNextFreeCluster(file); // the next free cluster found on the disk. |
| if(new_cluster) |
| { // A free cluster was found and can be added to the end of the file. |
| fseek_(file, 0, SEEK_END); // jump to the end of the file |
| last_cluster = SectorToFat16Cluster(file->FirstSectorOfCurrCluster); // determine current file cluster |
| fat_byte_offset = ((u32)last_cluster)<<1; |
| sector = Partition.FirstFatSector + ( fat_byte_offset / BYTES_PER_SECTOR); |
| byte = fat_byte_offset % BYTES_PER_SECTOR; |
| file->cluster_pointer = fat_pointer; // continue wrtiting to the file in the new and free datacluster. |
| return(retvalue); // return 1 when a new cluster was appended to the file |
| if(file->SectorInCache != sector) |
| { |
| file->SectorInCache = sector; // update sector stored in buffer |
| if(SD_SUCCESS != SDC_GetSector(file->SectorInCache, file->Cache)) // read sector from sd-card |
| { |
| Fat16_Deinit(); |
| return(0); |
| } |
| } |
| fat = (Fat16Entry_t *)(&(file->Cache[byte])); |
| fat->NextCluster = new_cluster; // append the free cluster to the end of the file in the FAT. |
| if(SD_SUCCESS != SDC_PutSector(file->SectorInCache, file->Cache)) // save the modified sector to the FAT. |
| { |
| Fat16_Deinit(); |
| return(0); |
| } |
| file->FirstSectorOfCurrCluster = Fat16ClusterToSector(new_cluster); |
| file->SectorOfCurrCluster = 0; |
| file->ByteOfCurrSector = 0; |
| } |
| return(new_cluster); |
| } |
| /****************************************************************************************************************************************************/ |
| /* Function: DirectoryEntryExist(s8 *, u8, u8, File_t *) */ |
| /* */ |
| /* Description: This function searches all possible dir entries until the file or directory is found or the end of the directory is reached */ |
| /* */ |
| /* Returnvalue: This function returns 1 if the directory entry specified was found. */ |
| /****************************************************************************************************************************************************/ |
| u8 DirectoryEntryExist(s8 *dirname, u8 attribfilter, u8 attribmask, File_t *file) |
| { |
| u32 dir_sector, max_dir_sector, curr_sector; |
| u16 dir_entry = 0; |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: void DeleteClusterChain(u16 startcluster); |
| // |
| // Description: This function frees all the clusters used for file from the fat. |
| // |
| // Returnvalue: none |
| //________________________________________________________________________________________________________________________________________ |
| u16 end_of_directory_not_reached = 0; |
| u8 i = 0; |
| u8 direntry_exist = 0; |
| DirEntry_t * dir; |
| void DeleteClusterChain(u16 startcluster) |
| { |
| u16 fat_index = 0; |
| u16 fat_sector_offset = 0; |
| u32 sector_in_buffer = 0; |
| u32 ul_temp = 0; |
| u8 buffer[512]; |
| // if incomming pointers are useless return immediatly |
| if((!Partition.IsValid) || (file == NULL) || (dirname == NULL)) return(direntry_exist); |
| // dir entries can be searched only in filesclusters that have |
| // a corresponding dir entry with adir-flag set in its attribute |
| // or direct within the root directory area |
| fat_index = (startcluster % 0x100); // Calculate the sector within the cluster. |
| fat_sector_offset = (startcluster >> 8); // and the position within the sector. |
| ul_temp = (u32)(FileAllocationTable + fat_sector_offset); |
| do |
| file->FirstSectorOfFirstCluster = 0; |
| // no current directory exist therefore assume searching in the root |
| if(file->DirectorySector == 0) |
| { |
| if(sector_in_buffer != ul_temp) |
| max_dir_sector = (Partition.MaxRootEntries * DIRENTRY_SIZE)/BYTES_PER_SECTOR; |
| file->FirstSectorOfFirstCluster = Partition.FirstRootDirSector; |
| } |
| // within the root directory area we can read sectors sequentially until the end of this area |
| else if((Partition.FirstRootDirSector <= file->DirectorySector) && (file->DirectorySector < Partition.FirstDataSector)) |
| { |
| max_dir_sector = (Partition.MaxRootEntries * DIRENTRY_SIZE)/BYTES_PER_SECTOR; |
| } |
| // within the data clusters we can read sectors sequentially only within the cluster |
| else if((Partition.FirstDataSector <= file->DirectorySector) && (file->DirectorySector <= Partition.LastDataSector)) |
| { |
| max_dir_sector = Partition.SectorsPerCluster; // limit max secters before next cluster |
| } |
| else return (direntry_exist); // bad sector range for directory sector of the file |
| // if search area is not defined yet |
| if(file->FirstSectorOfFirstCluster == 0) |
| { |
| // check if the directory entry of current file is existent and has the dir-flag set |
| file->SectorInCache = file->DirectorySector; // update the sector number of file cache. |
| if(SD_SUCCESS != SDC_GetSector(file->SectorInCache, file->Cache))// read in the sector. |
| { |
| sector_in_buffer = ul_temp; |
| SDC_GetSector(ul_temp,buffer); |
| Fat16_Deinit(); |
| return(direntry_exist); |
| } |
| Fat = (struct FatEntry *)buffer; |
| startcluster = Fat[fat_index].next_cluster; |
| Fat[fat_index].next_cluster = 0x0000; // free the cluster within the fat. |
| fat_index = (startcluster % 0x100); // Calculate the sector within the cluster. |
| fat_sector_offset = (startcluster >> 8); // and the position within the sector. |
| ul_temp = (u32)(FileAllocationTable + fat_sector_offset); |
| if((sector_in_buffer != ul_temp) || (startcluster == 0xffff)) |
| dir = (DirEntry_t *)file->Cache; // set pointer to directory |
| switch((u8)dir[file->DirectoryIndex].Name[0]) // check if current directory exist |
| { |
| SDC_PutSector(sector_in_buffer,buffer); |
| case SLOT_EMPTY: |
| case SLOT_DELETED: |
| // the directrory pointer of this file points to a deleted or not existen directory |
| // therefore no file or subdirectory can be created |
| return (direntry_exist); |
| break; |
| default: // and is a real directory |
| if((dir[file->DirectoryIndex].Attribute & ATTR_SUBDIRECTORY) != ATTR_SUBDIRECTORY) |
| { // current file is not a directory therefore no file or subdirectory can be created here |
| return (direntry_exist); |
| } |
| break; |
| } |
| file->FirstSectorOfFirstCluster = Fat16ClusterToSector(dir[file->DirectoryIndex].StartCluster); |
| } |
| while(startcluster != 0xffff); // last cluster has been deleted. |
| } |
| // update current file data area position to start of first cluster |
| file->FirstSectorOfCurrCluster = file->FirstSectorOfFirstCluster; |
| file->SectorOfCurrCluster = 0; |
| file->ByteOfCurrSector = 0; |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u16 GetFatClusterIndex(File *file); |
| // |
| // Description: This function returns the clusterindex of the cluster specified by file->cluster_pointer of the specified file. |
| // |
| //________________________________________________________________________________________________________________________________________ |
| do // loop over all data clusters of the current directory entry |
| { |
| dir_sector = 0; // reset sector counter within a new cluster |
| do // loop over all sectors of a cluster or all sectors of the root directory |
| { |
| curr_sector = file->FirstSectorOfCurrCluster + dir_sector; // calculate sector number |
| file->SectorInCache = curr_sector; // upate the sector number of file cache. |
| if(SD_SUCCESS != SDC_GetSector(file->SectorInCache, file->Cache))// read the sector |
| { |
| Fat16_Deinit(); |
| return(direntry_exist); |
| } |
| dir = (DirEntry_t *)file->Cache; // set pointer to directory |
| // search all directory entries within that sector |
| for(dir_entry = 0; dir_entry < DIRENTRIES_PER_SECTOR; dir_entry++) |
| { // check for existing dir entry |
| switch((u8)dir[dir_entry].Name[0]) |
| { |
| case SLOT_EMPTY: |
| case SLOT_DELETED: |
| // ignore empty or deleted dir entries |
| break; |
| default: |
| // if existing check attributes before names are compared will safe performance |
| if ((dir[dir_entry].Attribute & attribmask) != attribfilter) break; // attribute must match |
| // then compare the name to the giveb dirname (first 11 characters include 8 chars of basename and 3 chars extension.) |
| i = 0; |
| while((i < 11) && (dir[dir_entry].Name[i] == dirname[i])) i++; |
| if (i < 10) break; // names does not match |
| // if dirname and attribute have matched |
| file->Attribute = dir[dir_entry].Attribute; // store attribute of found dir entry |
| file->FirstSectorOfFirstCluster = Fat16ClusterToSector(dir[dir_entry].StartCluster); // set sector of first data cluster |
| file->FirstSectorOfCurrCluster = file->FirstSectorOfFirstCluster; |
| file->SectorOfCurrCluster = 0; |
| file->ByteOfCurrSector = 0; |
| file->DirectorySector = curr_sector; // current sector |
| file->DirectoryIndex = dir_entry; // current direntry in current sector |
| file->Size = dir[dir_entry].Size; |
| direntry_exist = 1; // mark as found |
| dir_entry = DIRENTRIES_PER_SECTOR; // stop for-loop |
| } // end of first byte of name check |
| } |
| dir_sector++; // search next sector |
| // stop if we reached the end of the cluster or the end of the root dir |
| }while((dir_sector < max_dir_sector) && (!direntry_exist)); |
| u16 GetFatClusterOffset(File *file) |
| { |
| u32 fat_sector_offset = 0; |
| fat_sector_offset = ((file->cluster_pointer) - (FirstDataCluster)); // Calculate index of actual cluster in FAT. |
| fat_sector_offset /= SectorsPerCluster; |
| fat_sector_offset += 2; // In Fat16 clusterpositions have an offset of two. |
| return((u16)fat_sector_offset); |
| // if we are seaching in the data area and the file not found in this cluster so take next cluster. |
| if(!direntry_exist && ( Partition.FirstDataSector <= file->FirstSectorOfCurrCluster)) |
| { |
| end_of_directory_not_reached = GetNextCluster(file); // updates File->FirstSectorOfCurrCluster |
| } |
| }while((end_of_directory_not_reached) && (!direntry_exist)); // repeat until a next cluster exist an no |
| return(direntry_exist); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u16 GetFatSectorIndex(File *file); |
| // |
| // Description: This function returns the sectorindex of the cluster specified by file->cluster_pointer of the specified file. |
| // |
| //________________________________________________________________________________________________________________________________________ |
| u16 GetFatSectorIndex(File *file) |
| /****************************************************************************************************************************************/ |
| /* Function: CreateDirectoryEntry(s8 *, u16, File_t *) */ |
| /* */ |
| /* Description: This function looks for the next free position in the directory and creates an entry. */ |
| /* The type of an directory entry is specified by the file attribute. */ |
| /* */ |
| /* Returnvalue: Return 0 on error */ |
| /****************************************************************************************************************************************/ |
| u8 CreateDirectoryEntry(s8 *dirname, u8 attrib, File_t *file) |
| { |
| u16 fat_pointer = 0; |
| u32 dir_sector, max_dir_sector, curr_sector; |
| u16 dir_entry = 0; |
| u16 subdircluster, dircluster = 0; |
| u16 end_of_directory_not_reached = 0; |
| u8 i = 0; |
| u8 retvalue = 0; |
| DirEntry_t *dir; |
| if((!Partition.IsValid) || (file == NULL) || (dirname == NULL)) return (retvalue); |
| // It is not checked here that the dir entry that should be created is already existent! |
| fat_pointer = GetFatClusterOffset(file); |
| fat_pointer = fat_pointer % 0x100; // Calculate the clusterposition in the fat |
| // Dir entries can be created only in file-clusters that have |
| // the dir-flag set in its attribute or within the root directory |
| return(fat_pointer); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u16 CreateFileInDirectory(u8 *, File *) |
| // |
| // Description: This function looks for the next free position in the directory and creates an entry. The type of an directoryentry is |
| // specified by the attribute. |
| // bit0: unused |
| // bit1: archive |
| // bit2: read_only |
| // bit3: system |
| // bit4: directory |
| // bit5: volume |
| //________________________________________________________________________________________________________________________________________ |
| u8 CreateFileInDirectory(s8 *fname, File *file) |
| { |
| u16 rootentry = 0; // index to an entry in the rootdirectory. |
| u16 cnt_enries_searched = 0; // count the number of rootentries which have been searched already. |
| u8 i = 0; |
| u16 sector_offset = 0; // index to the sector of the Rootentry which is searched momentarily |
| u8 retvalue = 0; |
| u32 cluster_temp = 0; |
| u16 cluster = 0; |
| s8 name[11] = " "; |
| SeperateFileName(fname,name); |
| cluster_temp = (u32)FindNextFreeCluster(file); // the next free cluster on the disk. |
| if(cluster_temp) // if a free cluster is available: |
| file->FirstSectorOfFirstCluster = 0; |
| // no current directory exist therefore assume creating in the root |
| if(file->DirectorySector == 0) |
| { |
| cluster = (u16)cluster_temp; // remember the index of the free datacluster found for the directory entry. |
| cluster_temp -=2; // Clusterposition is ((position in FAT)-2). first two entries in FAT are reserved. |
| cluster_temp *= SectorsPerCluster; // Calculate relative sectorindex of first datacluster. |
| file->start_cluster = (FirstDataCluster + cluster_temp); // Calculate absolute sectorposition of first datacluster. |
| file->cluster_pointer = file->start_cluster; // start reading the file with the first sector of the first datacluster. |
| // directory starts at sector specified by dir_sector. This can be the rootdirectory or any other directory. |
| do |
| { // search the next 16 rootentries in this sector of the roordirectory. |
| rootentry=0; |
| SDC_GetSector((u32)(CWD + sector_offset),file->buffer); // Read the Rootdirectory. |
| DirectoryEntry = (struct DirEntry *)file->buffer; |
| while((rootentry<16) && (!retvalue)) |
| max_dir_sector = (Partition.MaxRootEntries * DIRENTRY_SIZE)/BYTES_PER_SECTOR; |
| dircluster = 0; |
| file->FirstSectorOfFirstCluster = Partition.FirstRootDirSector; |
| } |
| // within the root directory area we can read sectors sequentially until the end of this area |
| else if((Partition.FirstRootDirSector <= file->DirectorySector) && (file->DirectorySector < Partition.FirstDataSector)) |
| { |
| max_dir_sector = (Partition.MaxRootEntries * DIRENTRY_SIZE)/BYTES_PER_SECTOR; |
| } |
| // within the data clusters we can read sectors sequentially only within the cluster |
| else if((Partition.FirstDataSector <= file->DirectorySector) && (file->DirectorySector <= Partition.LastDataSector)) |
| { |
| max_dir_sector = Partition.SectorsPerCluster; |
| } |
| else return (retvalue); // bad sector range for directory sector of the file |
| // if search area is not defined yet |
| if(file->FirstSectorOfFirstCluster == 0) |
| { |
| // check if the directory entry of current file is existent and has the dir-flag set |
| file->SectorInCache = file->DirectorySector; // update the sector number of file cache. |
| if(SD_SUCCESS != SDC_GetSector(file->SectorInCache, file->Cache))// read in the sector. |
| { |
| Fat16_Deinit(); |
| return(retvalue); |
| } |
| dir = (DirEntry_t *)file->Cache; // set pointer to directory |
| switch((u8)dir[file->DirectoryIndex].Name[0]) // check if current directory exist |
| { |
| case SLOT_EMPTY: |
| case SLOT_DELETED: |
| return (retvalue); |
| break; |
| default: // and is a real directory |
| if((dir[file->DirectoryIndex].Attribute & ATTR_SUBDIRECTORY) != ATTR_SUBDIRECTORY) |
| { // current file is not a directory therefore no file or subdirectory can be created here |
| return (retvalue); |
| } |
| break; |
| } |
| dircluster = dir[file->DirectoryIndex].StartCluster; |
| file->FirstSectorOfFirstCluster = Fat16ClusterToSector(dircluster); |
| } |
| subdircluster = FindNextFreeCluster(file); // get the next free cluster on the disk and mark it as used. |
| if(subdircluster) |
| { |
| file->FirstSectorOfCurrCluster = file->FirstSectorOfFirstCluster; |
| file->SectorOfCurrCluster = 0; |
| do // loop over all clusters of current directory |
| { |
| dir_sector = 0; // reset sector counter within a new cluster |
| do // loop over all sectors of a cluster or all sectors of the root directory |
| { |
| if((DirectoryEntry[rootentry].attribute == 0) || (DirectoryEntry[rootentry].attribute == 0xE5)) // empty directory entry found |
| curr_sector = file->FirstSectorOfCurrCluster + dir_sector; // calculate sector number |
| file->SectorInCache = curr_sector; // upate the sector number of file cache. |
| if(SD_SUCCESS != SDC_GetSector(file->SectorInCache, file->Cache))// read in the sector. |
| { |
| for(i=0;i<11;i++) DirectoryEntry[rootentry].name[i] = name[i];// Kopie the filename and the file extension to the directoryentry. |
| DirectoryEntry[rootentry].attribute = _FILE; // Set the fileattribute to archive to reserve the directoryentry. |
| DirectoryEntry[rootentry].startcluster = cluster; // copy the location of the first datacluster to the directoryentry. |
| DirectoryEntry[rootentry].size = 0; // the new createted file has no content yet. |
| file->directory_sector = (u32) (CWD + sector_offset); |
| file->directory_index = (u8) rootentry; |
| retvalue = 1; |
| SDC_PutSector((u32)(CWD + sector_offset),file->buffer); |
| Fat16_Deinit(); |
| return(retvalue); |
| } |
| dir = (DirEntry_t *)file->Cache; // set pointer to directory |
| // search all directory entries of a sector |
| for(dir_entry = 0; dir_entry < DIRENTRIES_PER_SECTOR; dir_entry++) |
| { // check if current direntry is available |
| if(((u8)dir[dir_entry].Name[0] == SLOT_EMPTY) || ((u8)dir[dir_entry].Name[0] == SLOT_DELETED)) |
| { // a free direntry was found |
| for(i = 0; i < 11; i++) dir[dir_entry].Name[i] = dirname[i]; // Set dir name |
| dir[dir_entry].Attribute = attrib; // Set the attribute of the new directoryentry. |
| dir[dir_entry].StartCluster = subdircluster; // copy the location of the first datacluster to the directoryentry. |
| dir[dir_entry].DateTime = FileDateTime(&SystemTime); // set date/time |
| dir[dir_entry].Size = 0; // the new createted file has no content yet. |
| if(SD_SUCCESS != SDC_PutSector(file->SectorInCache, file->Cache)) // write back to card |
| { |
| Fat16_Deinit(); |
| return(retvalue); |
| } |
| file->FirstSectorOfFirstCluster = Fat16ClusterToSector(subdircluster); // Calculate absolute sectorposition of first datacluster. |
| file->FirstSectorOfCurrCluster = file->FirstSectorOfFirstCluster; // Start reading the file with the first sector of the first datacluster. |
| file->SectorOfCurrCluster = 0; // reset sector of cureen cluster |
| file->ByteOfCurrSector = 0; // reset the byte location within the current sector |
| file->Attribute = attrib; // set file attribute to dir attribute |
| file->Size = 0; // new file has no size |
| file->DirectorySector = curr_sector; |
| file->DirectoryIndex = dir_entry; |
| if((attrib & ATTR_SUBDIRECTORY) == ATTR_SUBDIRECTORY) // if a new directory was created then initilize the data area |
| { |
| ClearCurrCluster(file); // fill cluster with zeros |
| file->SectorInCache = file->FirstSectorOfFirstCluster; |
| if(SD_SUCCESS != SDC_GetSector(file->SectorInCache, file->Cache))// read in the sector. |
| { |
| Fat16_Deinit(); |
| return(retvalue); |
| } |
| dir = (DirEntry_t *)file->Cache; |
| // create direntry "." to current dir |
| dir[0].Name[0] = 0x2E; |
| for(i = 1; i < 11; i++) dir[0].Name[i] = ' '; |
| dir[0].Attribute = ATTR_SUBDIRECTORY; |
| dir[0].StartCluster = subdircluster; |
| dir[0].DateTime = 0; |
| dir[0].Size = 0; |
| // create direntry ".." to the upper dir |
| dir[1].Name[0] = 0x2E; |
| dir[1].Name[1] = 0x2E; |
| for(i = 2; i < 11; i++) dir[1].Name[i] = ' '; |
| dir[1].Attribute = ATTR_SUBDIRECTORY; |
| dir[1].StartCluster = dircluster; |
| dir[1].DateTime = 0; |
| dir[1].Size = 0; |
| if(SD_SUCCESS != SDC_PutSector(file->SectorInCache, file->Cache))// read in the sector. |
| { |
| Fat16_Deinit(); |
| return(retvalue); |
| } |
| } |
| retvalue = 1; |
| dir_entry = DIRENTRIES_PER_SECTOR; // stop for-loop |
| } |
| } |
| rootentry++; |
| cnt_enries_searched++; |
| } |
| if(!retvalue) // file not found in this sector so take next sector. |
| dir_sector++; // search next sector |
| // stop if we reached the end of the cluster or the end of the root dir |
| }while((dir_sector < max_dir_sector) && (!retvalue)); |
| // if we are seaching in the data area and the file not found in this cluster so take next cluster. |
| if(!retvalue && ( Partition.FirstDataSector <= file->FirstSectorOfCurrCluster)) |
| { |
| rootentry = 0; |
| sector_offset++; |
| end_of_directory_not_reached = GetNextCluster(file); // updates File->FirstSectorOfCurrCluster |
| } |
| } |
| while((cnt_enries_searched< PossibleRootEntries) && (!retvalue)); |
| }while((end_of_directory_not_reached) && (!retvalue)); |
| // Perhaps we are at the end of the last cluster of a directory file an have no free direntry found. |
| // Then we would need to add a cluster to that file and create the new direntry there. |
| // This code is not implemented yet, because its occurs only if more that 32*32=1024 direntries are |
| // within a subdirectory of root. |
| } |
| return(retvalue); // return 1 if file has been created otherwise return 0. |
| return(retvalue); // return 1 if file has been created otherwise return 0. |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u16 SeekFileInDirectory(s8 *fname, File *) |
| // |
| // Description: this function searches all possible entries withint the actual directory for the specified object. |
| // |
| // Returnvalue: This function returns 1 if the directoryentry specified was found. |
| //________________________________________________________________________________________________________________________________________ |
| u8 SeekFileInDirectory(s8 *fname, File *file) |
| /********************************************************************************************************************************************/ |
| /* Function: FileExist(const s8* filename, u8 attribfilter, u8 attribmask, File_t *file); */ |
| /* */ |
| /* Description: This function looks for the specified file including its subdirectories beginning */ |
| /* in the rootdirectory of the drive. If the file is found the Filepointer properties are */ |
| /* updated. */ |
| /* */ |
| /* Returnvalue: 1 if file is found else 0. */ |
| /********************************************************************************************************************************************/ |
| u8 FileExist(const s8* filename, const u8 attribfilter, const u8 attribmask, File_t *file) |
| { |
| u16 rootentry=0; |
| u16 end_of_directory_not_reached = 0; // the directory has been read completely without a result. |
| u8 i=0; |
| u8 retvalue = 0; |
| u32 cluster_temp = 0; |
| s8 name[11] = " "; |
| SeperateFileName(fname,name); |
| file->cluster_pointer = CWD; // start looking for the file in the actual directory. |
| s8* path = 0; |
| s8* subpath = 0; |
| u8 af, am, file_exist = 0; |
| s8 dirname[12]; // 8+3 + temination character |
| // directory starts at sector specified by dir_sector. This can be the rootdirectory or any other directory. |
| do |
| { // search the next 16 rootentries in this sector of the roordirectory. |
| rootentry=0; |
| SDC_GetSector((u32) file->cluster_pointer,file->buffer); // Read the Rootdirectory. |
| DirectoryEntry = (struct DirEntry *)file->buffer; |
| // if incomming pointers are useless return immediatly |
| if ((filename == NULL) || (file == NULL) || (!Partition.IsValid)) return 0; |
| while((!retvalue)&&(rootentry<16)) |
| { |
| i=0; |
| if(DirectoryEntry[rootentry].name[0] != 0xe5) // ignore deleted items. |
| // trace along the filepath |
| path = (s8*)filename; // start a the beginning of the filename string |
| file->DirectorySector = 0; // start at RootDirectory with file search |
| file->DirectoryIndex = 0; |
| // as long as the file was not found and the remaining path is not empty |
| while((*path != 0) && !file_exist) |
| { // separate dirname and subpath from filepath string |
| subpath = SeperateDirName(path, dirname); |
| if(subpath != NULL) |
| { |
| if(*subpath == 0) |
| { // empty subpath indicates last element of dir chain |
| af = attribfilter; |
| am = attribmask; |
| } |
| else // it must be a subdirectory and no volume label |
| { |
| while((i<=10)&&(DirectoryEntry[rootentry].name[i] == name[i])) |
| af = ATTR_SUBDIRECTORY; |
| am = ATTR_SUBDIRECTORY|ATTR_VOLUMELABEL; |
| } |
| if(!DirectoryEntryExist(dirname, af, am, file)) |
| { |
| return (file_exist); // subdirectory does not exist |
| } |
| else |
| { |
| if (*subpath == 0) |
| { |
| i++; |
| file_exist = 1; // last element of path chain was found with the given attribute filter |
| } |
| } |
| if((i==11) && (DirectoryEntry[rootentry].attribute & _FILE)) // entry found!! -> reading startcluster of entry from offset 26. |
| { |
| cluster_temp = (u32)DirectoryEntry[rootentry].startcluster; |
| cluster_temp -=2; // Clusterposition is ((position in FAT)-2). first two entries in FAT are reserved. |
| cluster_temp *= (u32)SectorsPerCluster; // Calculate positon of first cluster. |
| file->start_cluster = (FirstDataCluster + cluster_temp); |
| file->directory_sector = (u32) file->cluster_pointer; |
| file->cluster_pointer = file->start_cluster; // start reading the file with the first cluster. |
| file->filesize = (u32) DirectoryEntry[rootentry].size; |
| file->directory_index = (u8) rootentry; |
| retvalue = 1; |
| } |
| rootentry++; |
| } |
| if(!retvalue) // file not found in this sector so take next sector. |
| else // error seperating the subpath |
| { |
| end_of_directory_not_reached = GetNextCluster(file); |
| return file_exist; // bad subdir format |
| } |
| path = subpath; |
| subpath = 0; |
| } |
| while((end_of_directory_not_reached) && (!retvalue)); |
| return(retvalue); |
| return (file_exist); |
| } |
| /********************************************************************************************************************************************/ |
| /* Function: FileCreate(const s8* filename, u8 attrib, File_t *file); */ |
| /* */ |
| /* Description: This function looks for the specified file including its subdirectories beginning */ |
| /* in the rootdirectory of the partition. If the file is found the Filepointer properties are */ |
| /* updated. If file or its subdirectories are not found they will be created */ |
| /* */ |
| /* Returnvalue: 1 if file was created else 0. */ |
| /********************************************************************************************************************************************/ |
| u8 FileCreate(const s8* filename, const u8 attrib, File_t *file) |
| { |
| s8 *path = 0; |
| s8 *subpath = 0; |
| u8 af, am, file_created = 0; |
| s8 dirname[12]; |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: void SeperateFileName(u8*); |
| // |
| // Description: This function seperates the filename and the fileattribute and brings them into the needed format ('test.txt' -> 'TEST TXT'); |
| // |
| //________________________________________________________________________________________________________________________________________ |
| // if incomming pointers are useless return immediatly |
| if ((filename == NULL) || (file == NULL) || (!Partition.IsValid)) return 0; |
| void SeperateFileName(s8 *fname, s8 *name) |
| { |
| u8 readpointer = 0; |
| u8 writepointer = 0; |
| u8 attribute = 1; |
| u8 i = 0; |
| while((writepointer<=10) && (fname[readpointer]!=0)) // the rootdirectoryentry is 8bytes for filename and 3bytes for fileattribute. |
| { // the filename in the rootdirectory is in the format "TEST TXT" without the dot. |
| if(fname[readpointer]=='.') // seperating filename and attribute. |
| // trace along the filepath |
| path = (s8*)filename; // start a the beginning of the filename string |
| file->DirectorySector = 0; // start at RootDirectory with file search |
| file->DirectoryIndex = 0; |
| // as long as the file was not created and the remaining file path is not empty |
| while((*path != 0) && !file_created) |
| { // separate dirname and subpath from filepath string |
| subpath = SeperateDirName(path, dirname); |
| if(subpath != NULL) |
| { |
| if(attribute) // is the filename "." or ".." ? |
| { |
| name[writepointer] = fname[readpointer]; |
| readpointer++; |
| writepointer++; |
| if(*subpath == 0) |
| { // empty subpath indicates last element of dir chain |
| af = ATTR_NONE; |
| am = ATTR_SUBDIRECTORY|ATTR_VOLUMELABEL; // any file that is no subdir or volume label |
| } |
| else |
| else // it must be a subdirectory and no volume label |
| { |
| if(fname[(readpointer-1)] != '*') |
| { |
| for(i=writepointer;i<8;i++) |
| { |
| name[i] = ' '; |
| } |
| } |
| readpointer++; |
| writepointer = 8; |
| af = ATTR_SUBDIRECTORY; |
| am = ATTR_SUBDIRECTORY|ATTR_VOLUMELABEL; |
| } |
| } |
| else if(fname[readpointer] == '*') // wildcard found within the filename + extension. |
| { |
| if(writepointer < 8) // in extension. |
| { |
| readpointer++; |
| writepointer = 8; |
| if(!DirectoryEntryExist(dirname, af, am, file)) // if subdir or file is not existent |
| { // try to create subdir or file |
| if(*subpath == 0) af = attrib; // if last element in dir chain take the given attribute |
| if(!CreateDirectoryEntry(dirname, af, file)) |
| { // could not be created |
| return(file_created); |
| } |
| else if (*subpath == 0) file_created = 1; // last element of path chain was created |
| } |
| else // in filename. |
| { |
| writepointer = 11; // jump to the end of the string to terminate this function. |
| } |
| attribute = 0; |
| } |
| else |
| else // error seperating the subpath |
| { |
| if((fname[readpointer]>96) && (fname[readpointer]<123)) |
| { |
| name[writepointer]=(fname[readpointer] - 32); // all characters must be upper case. |
| } |
| else |
| { |
| name[writepointer]=fname[readpointer]; |
| } |
| readpointer++; |
| writepointer++; |
| attribute = 0; |
| return file_created; // bad subdir format |
| } |
| } |
| path = subpath; |
| subpath = 0; |
| } |
| return (file_created); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: File * ReserveFilePointer_(void); |
| // |
| // Description: This function looks for a free filepointer and reserves it. |
| // |
| // |
| // Return: NULL = faild to reserve a filepointer |
| // otherwise filepointer |
| //________________________________________________________________________________________________________________________________________ |
| File * ReserveFilePointer(void) |
| { |
| File *file; |
| file = NULL; |
| u8 temp; |
| /********************************************************************************************************************************************/ |
| /* Function: File_t * fopen_(s8* filename, s8 mode); */ |
| /* */ |
| /* Description: This function looks for the specified file in the rootdirectory of the drive. If the file is found the number of the */ |
| /* corrosponding filepointer is returned. Only modes 'r' (reading) and 'a' append are implemented yet. */ |
| /* */ |
| /* Returnvalue: The filepointer to the file or 0 if faild. */ |
| /********************************************************************************************************************************************/ |
| File_t * fopen_(const s8 *filename, const s8 mode) |
| { |
| File_t *file = 0; |
| for(temp = 0;temp<__MAX_FILES_USED;temp++) |
| { |
| if(FilePointer[temp].state == _UNUSED) // free filepointer found? |
| if((!Partition.IsValid) || (filename == 0)) return(file); |
| // Look for an unused filepointer in the file pointer list? |
| file = LockFilePointer(); |
| // if no unused file pointer was found return 0 |
| if(file == NULL) return(file); |
| // now we have found a free filepointer and claimed it |
| // so let initiate its property values |
| file->FirstSectorOfFirstCluster = 0; // Sectorpointer to the first sector of the first datacluster of the file. |
| file->FirstSectorOfCurrCluster = 0; // Pointer to the cluster which is edited at the moment. |
| file->SectorOfCurrCluster = 0; // The sector which is edited at the moment (cluster_pointer + sector_index). |
| file->ByteOfCurrSector = 0; // The bytelocation within the current sector (cluster_pointer + sector_index + byte_index). |
| file->Mode = mode; // mode of fileoperation (read,write) |
| file->Size = 0; // the size of the opened file in bytes. |
| file->Position = 0; // pointer to a byte within the file 0 < fileposition < filesize |
| file->SectorInCache = 0; // the last sector read, wich is still in the sectorbuffer. |
| file->DirectorySector = 0; // the sectorposition where the directoryentry has been made. |
| file->DirectoryIndex = 0; // the index to the directoryentry within the specified sector. |
| file->Attribute = 0; // the attribute of the file opened. |
| // check if a real file (no directory) to the given filename exist |
| if(FileExist(filename, ATTR_NONE, ATTR_SUBDIRECTORY|ATTR_VOLUMELABEL, file)) |
| { // file exist |
| switch(mode) // check mode |
| { |
| file = &FilePointer[temp]; |
| FilePointer[temp].state = _USED; // mark as used. |
| FilePointer[temp].mode = 0; // type of access (read/write) not defined yet. |
| FilePointer[temp].start_cluster = 0; // Sectorpointer to the first sector of the first datacluster of the file. |
| FilePointer[temp].cluster_pointer = 0; // Pointer to the cluster which is edited at the moment. |
| FilePointer[temp].sector_index = 0; // The sector which is edited at the moment (cluster_pointer + sector_index). |
| FilePointer[temp].byte_index = 0; // The bytelocation within the current sector (cluster_pointer + sector_index + byte_index). |
| FilePointer[temp].filesize = 0; // the size of the opend file in bytes. |
| FilePointer[temp].fileposition = 0; // pointer to a character within the file 0 < fileposition < filesize |
| FilePointer[temp].sector_in_buffer = 0; // the last sector read, wich is still in the sectorbuffer. |
| FilePointer[temp].directory_sector = 0; // the sectorposition where the directoryentry has been made. |
| FilePointer[temp].directory_index = 0; // the index to the directoryentry within the specified sector. |
| FilePointer[temp].attribute = 0; // the attribute of the file opened. |
| case 'a': // if mode is: append to file |
| if((file->Attribute & ATTR_READONLY) == ATTR_READONLY) |
| { // file is marked as readonly --> do not open this file |
| fclose_(file); |
| file = NULL; |
| } |
| else |
| { // file is not marked as read only --> goto end of file |
| fseek_(file, 0, SEEK_END); // point to the end of the file |
| } |
| break; |
| case 'w': // if mode is: write to file |
| if((file->Attribute & ATTR_READONLY) == ATTR_READONLY) |
| { // file is marked as readonly --> do not open this file |
| fclose_(file); |
| file = NULL; |
| } |
| else |
| { // file is not marked as read only --> goto start of file |
| // free all clusters of that file |
| DeleteClusterChain(SectorToFat16Cluster(file->FirstSectorOfFirstCluster)); |
| // mar an empy cluster as the last one and store the corresponding sector |
| file->FirstSectorOfFirstCluster = Fat16ClusterToSector(FindNextFreeCluster(file)); |
| file->FirstSectorOfCurrCluster = file->FirstSectorOfFirstCluster; |
| file->SectorOfCurrCluster = 0; |
| file->ByteOfCurrSector = 0; |
| file->Size = 0; |
| file->Position = 0; |
| fseek_(file, 0, SEEK_SET); |
| } |
| break; |
| case 'r': // if mode is: read from file |
| // goto end of file |
| fseek_(file, 0, SEEK_SET); |
| break; |
| default: // other modes are not supported |
| fclose_(file); |
| file = NULL; |
| break; |
| } |
| return(file); |
| } |
| else // file does not exist |
| { |
| switch(mode) // check mode |
| { |
| case 'a': |
| case 'w': // if mode is write or append |
| // try to create the file |
| if(!FileCreate(filename, ATTR_ARCHIVE, file)) |
| { // if it could not be created |
| fclose_(file); |
| file = NULL; |
| } |
| break; |
| case 'r': // else opened for 'r' |
| default: // of unsupported mode |
| fclose_(file); |
| file = NULL; |
| break; |
| } |
| return(file); |
| } |
| // we should never come to this point |
| fclose_(file); |
| file = NULL; |
| return(file); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: void FreeFilePointer_(File *); |
| // |
| // Description: This function free's the filepointer by marking it as unused. |
| // |
| // |
| // Return: none |
| // |
| //________________________________________________________________________________________________________________________________________ |
| void FreeFilePointer(File *file) |
| /****************************************************************************************************************************************************/ |
| /* Function: fflush_(File *); */ |
| /* */ |
| /* Description: This function writes the data already in the buffer but not yet written to the file. */ |
| /* */ |
| /* Returnvalue: 0 on success EOF on error */ |
| /****************************************************************************************************************************************************/ |
| s16 fflush_(File_t *file) |
| { |
| u8 cnt = 0; |
| DirEntry_t *dir; |
| for(cnt=0;cnt<__MAX_FILES_USED;cnt++) // Is the filepointeradress vaild? |
| if((file == NULL) || (!Partition.IsValid)) return (EOF); |
| switch(file->Mode) |
| { |
| if(&FilePointer[cnt] == file) // filepointer found therefore it must be valid |
| { |
| FilePointer[cnt].state = _UNUSED; // and can be marked as unused. |
| } |
| case 'a': |
| case 'w': |
| if(file->ByteOfCurrSector > 0) // has data been added to the file? |
| { |
| if(SD_SUCCESS != SDC_PutSector(file->SectorInCache, file->Cache))// save the data still in the buffer |
| { |
| Fat16_Deinit(); |
| return(EOF); |
| } |
| } |
| file->SectorInCache = file->DirectorySector; |
| if(SD_SUCCESS != SDC_GetSector(file->SectorInCache, file->Cache)) // read the directory entry for this file. |
| { |
| Fat16_Deinit(); |
| return(EOF); |
| } |
| dir = (DirEntry_t *)file->Cache; |
| dir[file->DirectoryIndex].Size = file->Size; // update file size |
| dir[file->DirectoryIndex].DateTime = FileDateTime(&SystemTime); // update date time |
| if(SD_SUCCESS != SDC_PutSector(file->SectorInCache, file->Cache)) // write back to sd-card |
| { |
| Fat16_Deinit(); |
| return(EOF); |
| } |
| break; |
| case 'r': |
| default: |
| return(EOF); |
| break; |
| } |
| return(0); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: void DelteDirectoryEntry(Find *) |
| // |
| // Description: This function deletes the directoryentry of the specified item. |
| // |
| // |
| // returnvalue: 1 if the directory could be created. |
| //________________________________________________________________________________________________________________________________________ |
| void DeleteDirectoryEntry(Find *item) |
| /****************************************************************************************************************************************/ |
| /* Function: fclose_(File *file); */ |
| /* */ |
| /* Description: This function closes the open file by writing the remaining data */ |
| /* from the buffer to the device and entering the filesize in the directory entry. */ |
| /* */ |
| /* Returnvalue: 0 on success EOF on error */ |
| /****************************************************************************************************************************************/ |
| s16 fclose_(File_t *file) |
| { |
| u8 buffer[512]; |
| SDC_GetSector((u32) item->cluster_pointer,buffer); // Read the Rootdirectory. |
| DirectoryEntry = (struct DirEntry *)buffer; |
| s16 returnvalue = EOF; |
| DirectoryEntry[(item->directory_index)-1].attribute = 0; // free the directoryentry. |
| DirectoryEntry[(item->directory_index)-1].name[0] = 0xE5; // free the directoryentry. |
| SDC_PutSector((u32) item->cluster_pointer,buffer); // Read the Rootdirectory. |
| if(file == NULL) return(returnvalue); |
| returnvalue = fflush_(file); |
| UnlockFilePointer(file); |
| return(returnvalue); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u8 CreateSubDirectory(u8 *) |
| // |
| // Description: This function creates an directory within the directory specified by CWD |
| // |
| // |
| // returnvalue: 1 if the directory could be created. |
| //________________________________________________________________________________________________________________________________________ |
| u8 CreateSubDirectory(s8 *fname) |
| { |
| u16 index = 0; // index to an entry in the rootdirectory. |
| u16 cnt_entries_searched = 0; // count the number of rootentries which have been searched already. |
| u16 i = 0; |
| u16 sector_offset = 0; // index to the sector of the entry which is searched momentarily |
| u8 retvalue = 0; |
| u32 cluster_temp = 0; |
| u16 cluster = 0; |
| File file; |
| s8 name[11] = {" "}; |
| SeperateFileName(fname,name); |
| cluster_temp = (u32)FindNextFreeCluster(&file); // the next free cluster on the disk. |
| /********************************************************************************************************************************************/ |
| /* Function: fgetc_(File *file); */ |
| /* */ |
| /* Description: This function reads and returns one character from the specified file. Is the end of the actual sector reached the */ |
| /* next sector of the cluster is read. If the last sector of the cluster read the next cluster will be searched in FAT. */ |
| /* */ |
| /* Returnvalue: The function returns the character read from the specified memorylocation as u8 casted to s16 or EOF. */ |
| /********************************************************************************************************************************************/ |
| s16 fgetc_(File_t *file) |
| { |
| s16 c = EOF; |
| u32 curr_sector; |
| if(cluster_temp) // if a free cluster is available: |
| if( (!Partition.IsValid) || (file == NULL)) return(c); |
| // if the end of the file is not reached, get the next character. |
| if((0 < file->Size) && ((file->Position+1) < file->Size) ) |
| { |
| cluster = (u16)cluster_temp; // remember the index of the free datacluster found for the directory entry. |
| cluster_temp -=2; // Clusterposition is ((position in FAT)-2). first two entries in FAT are reserved. |
| cluster_temp *= SectorsPerCluster; // Calculate relative sectorindex of first datacluster. |
| file.start_cluster = (FirstDataCluster + cluster_temp); // Calculate absolute sectorposition of first datacluster. |
| file.cluster_pointer = file.start_cluster; // start reading the file with the first sector of the first datacluster. |
| curr_sector = file->FirstSectorOfCurrCluster; // calculate the sector of the next character to be read. |
| curr_sector += file->SectorOfCurrCluster; |
| // -Initialise new cluster to zero-------------------------------------------------------- |
| for(i=0;i<512;i++) |
| if(file->SectorInCache != curr_sector) |
| { |
| file.buffer[i] = 0; // initialise buffer to zero |
| } |
| for(sector_offset=0;sector_offset<SectorsPerCluster;sector_offset++) // initialise all sectors of new cluster with buffer. |
| file->SectorInCache = curr_sector; |
| if(SD_SUCCESS != SDC_GetSector(file->SectorInCache,file->Cache)) |
| { |
| Fat16_Deinit(); |
| return(c); |
| } |
| } |
| c = (s16) file->Cache[file->ByteOfCurrSector]; |
| file->Position++; // increment file position |
| file->ByteOfCurrSector++; // goto next byte in sector |
| if(file->ByteOfCurrSector >= BYTES_PER_SECTOR) // if end of sector |
| { |
| SDC_PutSector((u32)(file.start_cluster + sector_offset),file.buffer); // save the initialised sector to the card. |
| } |
| // -Create directoryentry "." ------------------------------------------------------------- |
| DirectoryEntry = (struct DirEntry *)file.buffer; |
| DirectoryEntry[0].name[0] = '.'; |
| DirectoryEntry[0].attribute = _DIRECTORY; |
| DirectoryEntry[0].startcluster = cluster; |
| // -Create directoryentry "." ------------------------------------------------------------- |
| DirectoryEntry[1].name[0] = '.'; |
| DirectoryEntry[1].name[1] = '.'; |
| DirectoryEntry[1].attribute = _DIRECTORY; |
| if(CWD == RootDirectory) |
| { |
| DirectoryEntry[1].startcluster = 0; |
| } |
| else |
| { |
| cluster_temp = (CWD - FirstDataCluster); |
| cluster_temp /= SectorsPerCluster; |
| cluster_temp -= 2; |
| DirectoryEntry[1].startcluster = (u16) cluster_temp; |
| } |
| SDC_PutSector((u32) file.start_cluster,file.buffer); // save the initialised sector to the card. |
| // -create directoryentry within the cwd -------------------------------------------------- |
| sector_offset = 0; |
| cnt_entries_searched = 0; |
| do |
| { // search the next 16 rootentries in this sector of the roordirectory. |
| index=0; |
| SDC_GetSector((u32)(CWD + sector_offset),file.buffer); // Read the actual directory. |
| DirectoryEntry = (struct DirEntry *)file.buffer; |
| while((index<16) && (!retvalue)) |
| file->ByteOfCurrSector = 0; // reset byte location |
| file->SectorOfCurrCluster++; // next sector |
| if(file->SectorOfCurrCluster >= Partition.SectorsPerCluster) // if end of cluster is reached, the next datacluster has to be searched in the FAT. |
| { |
| if((DirectoryEntry[index].attribute == 0) || (DirectoryEntry[index].attribute == 0xE5)) // empty directory entry found |
| if(GetNextCluster(file)) // Sets the clusterpointer of the file to the next datacluster. |
| { |
| for(i=0;i<11;i++) DirectoryEntry[index].name[i] = name[i]; // Kopie the filename and the file extension to the directoryentry. |
| DirectoryEntry[index].attribute = _DIRECTORY; // Set the fileattribute to archive to reserve the directoryentry. |
| DirectoryEntry[index].startcluster = cluster; // copy the location of the first datacluster to the directoryentry. |
| DirectoryEntry[index].size = 0; // the new createted file has no content yet. |
| file.directory_sector = (u32) (CWD + sector_offset); |
| file.directory_index = (u8) index; |
| retvalue = 1; |
| SDC_PutSector((u32)(CWD + sector_offset),file.buffer); |
| } |
| index++; |
| cnt_entries_searched++; |
| file->SectorOfCurrCluster = 0; // start reading new cluster at first sector of the cluster. |
| } |
| else // the last cluster was allready reached |
| { |
| file->SectorOfCurrCluster--; // jump back to the last sector in the last cluster |
| file->ByteOfCurrSector = BYTES_PER_SECTOR; // set ByteOfCurrSector one byte over sector end |
| } |
| } |
| if(!retvalue) // file not found in this sector so take next sector. |
| { |
| index = 0; |
| sector_offset++; |
| } |
| } |
| while((cnt_entries_searched< PossibleRootEntries) && (!retvalue)); |
| } |
| return(retvalue); // return 1 if file has been created otherwise return 0. |
| return(c); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u16 SeekSubDirectory(s8 *fname) |
| // |
| // Description: looks for the specified directory within the CWD. |
| // |
| // Returnvalue: If the specified directory was found the startcluster is returned. otherwise 0. |
| //________________________________________________________________________________________________________________________________________ |
| u16 SeekSubDirectory(s8 *fname) |
| { |
| u16 index = 0; |
| u16 end_of_directory_not_reached = 0; // the directory has been read completely without a result. |
| u8 i = 0; |
| u16 cluster_temp = 0; |
| s8 name[11] = " "; |
| File file; |
| SeperateFileName(fname,name); |
| /********************************************************************************************************************************************/ |
| /* Function: fputc_( const s8 c, File *file); */ |
| /* */ |
| /* Description: This function writes a byte to the specified file and takes care of writing the necessary FAT- Entries. */ |
| /* next sector of the cluster is read. If the last sector of the cluster read the next cluster will be searched in FAT. */ |
| /* */ |
| /* Returnvalue: The function returns the character written to the stream or EOF on error. */ |
| /********************************************************************************************************************************************/ |
| s16 fputc_(const s8 c, File_t *file) |
| { |
| u32 curr_sector = 0; |
| file.cluster_pointer = CWD; // start looking for the file in the actual directory. |
| file.start_cluster = CWD; // start looking for the file in the actual directory. |
| if((!Partition.IsValid) || (file == NULL)) return(EOF); |
| // directory starts at sector specified by dir_sector. This can be the rootdirectory or any other directory. |
| do |
| { // search the next 16 rootentries in this sector of the roordirectory. |
| index=0; |
| SDC_GetSector((u32) file.cluster_pointer,file.buffer); // Read the Rootdirectory. |
| DirectoryEntry = (struct DirEntry *)file.buffer; |
| // If file position equals to file size, then the end of file has reached. |
| // In this chase it has to be checked that the ByteOfCurrSector is BYTES_PER_SECTOR |
| // and a new cluster should be appended. |
| if((file->Position >= file->Size) && (file->ByteOfCurrSector >= BYTES_PER_SECTOR)) |
| { |
| if(!AppendCluster(file)) return(EOF); |
| } |
| while((!cluster_temp)&&(index<16)) |
| curr_sector = file->FirstSectorOfCurrCluster; |
| curr_sector += file->SectorOfCurrCluster; |
| if(file->SectorInCache != curr_sector) |
| { |
| file->SectorInCache = curr_sector; |
| if(SD_SUCCESS != SDC_GetSector(file->SectorInCache, file->Cache)) |
| { |
| i=0; |
| if(DirectoryEntry[index].name[0] != 0xe5) // ignore deleted items. |
| { |
| while((i<=10)&&(DirectoryEntry[index].name[i] == name[i])) |
| Fat16_Deinit(); |
| return(EOF); |
| } |
| } |
| file->Cache[file->ByteOfCurrSector] = (u8)c; // write databyte into the buffer. The byte will be written to the device at once |
| if(file->Size == file->Position) file->Size++; // a character has been written to the file so the size is incremented only when the character has been added at the end of the file. |
| file->Position++; // the actual positon within the file. |
| file->ByteOfCurrSector++; // goto next byte in sector |
| if(file->ByteOfCurrSector >= BYTES_PER_SECTOR) // if the end of this sector is reached yet |
| { // save the sector to the sd-card |
| if(SD_SUCCESS != SDC_PutSector(file->SectorInCache, file->Cache)) |
| { |
| Fat16_Deinit(); |
| return(EOF); |
| } |
| file->ByteOfCurrSector = 0; // reset byte location |
| file->SectorOfCurrCluster++; // next sector |
| if(file->SectorOfCurrCluster >= Partition.SectorsPerCluster)// if end of cluster is reached, the next datacluster has to be searched in the FAT. |
| { |
| if(!GetNextCluster(file)) // Sets the clusterpointer of the file to the next datacluster. |
| { // if current cluster was the last cluster of the file |
| if(!AppendCluster(file)) // append a new and free cluster at the end of the file. |
| { |
| i++; |
| file->SectorOfCurrCluster--; // jump back to last sector of last cluster |
| file->ByteOfCurrSector = BYTES_PER_SECTOR; // set byte location to 1 byte over sector len |
| return(EOF); |
| } |
| } |
| if((i==11) && (DirectoryEntry[index].attribute & _DIRECTORY)) // entry found!! -> reading startcluster of entry from offset 26. |
| else // next cluster |
| { |
| cluster_temp = (u16)DirectoryEntry[index].startcluster; |
| } |
| index++; |
| file->SectorOfCurrCluster = 0; // start reading new cluster at first sector of the cluster. |
| } |
| } |
| if(!cluster_temp) // file not found in this sector so take next sector. |
| { |
| end_of_directory_not_reached = GetNextCluster(&file); |
| } |
| } |
| while((end_of_directory_not_reached) && (!cluster_temp)); |
| return(cluster_temp); |
| return(0); |
| } |
| /****************************************************************************************************************************************/ |
| /* Function: fread_(void *buffer, s32 size, s32 count, File *File); */ |
| /* */ |
| /* Description: This function reads count objects of the specified size */ |
| /* from the actual position of the file to the specified buffer. */ |
| /* */ |
| /* Returnvalue: The function returns the number of objects (not bytes) read from the file. */ |
| /****************************************************************************************************************************************/ |
| u32 fread_(void *buffer, u32 size, u32 count, File_t *file) |
| { |
| u32 object_cnt = 0; // count the number of objects read from the file. |
| u32 object_size = 0; // count the number of bytes read from the actual object. |
| u8 *pbuff = 0; // a pointer to the actual bufferposition. |
| u8 success = 1; // no error occured during read operation to the file. |
| s16 c; |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u8 mkdir_(u8 *) |
| // |
| // Description: This function checks if the directory to be created already exists. If not the directory will be created. |
| // |
| // |
| // returnvalue: 1 if the directory could be created. |
| //________________________________________________________________________________________________________________________________________ |
| if((!Partition.IsValid) || (file == NULL) || (buffer == NULL)) return(0); |
| u8 mkdir_(s8 *fname) |
| { |
| u8 retvalue = 0; |
| pbuff = (u8 *) buffer; // cast the void pointer to an u8 * |
| retvalue = SeekSubDirectory(fname); // check wether the specified directory already exists. |
| if(!retvalue) |
| while((object_cnt < count) && success) |
| { |
| CreateSubDirectory(fname); // if directory doesn't exist, create it. |
| retvalue = 1; |
| } |
| else |
| { |
| retvalue = 0; |
| } |
| return(retvalue); |
| object_size = size; |
| while((size > 0) && success) |
| { |
| c = fgetc_(file); |
| if(c != EOF) |
| { |
| *pbuff = (u8)c; // read a byte from the buffer to the opened file. |
| pbuff++; |
| size--; |
| } |
| else // error or end of file reached |
| { |
| success = 0; |
| } |
| } |
| if(success) object_cnt++; |
| } |
| return(object_cnt); // return the number of objects succesfully read from the file |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u8 chdir_(u8 *) |
| // |
| // Description: This function changes the CWD to the directory specified. |
| // |
| // |
| // returnvalue: 1 if the directory could be changed. |
| //________________________________________________________________________________________________________________________________________ |
| u8 chdir_(s8 *fname) |
| /****************************************************************************************************************************************/ |
| /* Function: fwrite_(void *buffer, s32 size, s32 count, File *file); */ |
| /* */ |
| /* Description: This function writes count objects of the specified size */ |
| /* from the buffer pointer to the actual position in the file. */ |
| /* */ |
| /* Returnvalue: The function returns the number of objects (not bytes) read from the file. */ |
| /****************************************************************************************************************************************/ |
| u32 fwrite_(void *buffer, u32 size, u32 count, File_t *file) |
| { |
| u8 retvalue = 0; |
| s8 name[11] = {" "}; |
| u32 ultemp = 0; |
| u32 object_cnt = 0; // count the number of objects written to the file. |
| u32 object_size = 0; // count the number of bytes written from the actual object. |
| u8 *pbuff = 0; // a pointer to the actual bufferposition. |
| u8 success = 1; // no error occured during write operation to the file. |
| s16 c; |
| SeperateFileName(fname,name); |
| if((!Partition.IsValid) || (file == NULL) || (buffer == NULL)) return(0); |
| pbuff = (u8 *) buffer; // cast the void pointer to an u8 * |
| ultemp = (u32)SeekSubDirectory(name); |
| if(ultemp >= 2) |
| while((object_cnt < count) && success) |
| { |
| ultemp -=2; // Clusterposition is ((position in FAT)-2). first two entries in FAT are reserved. |
| ultemp *= SectorsPerCluster; // Calculate relative sectorindex of first datacluster. |
| ultemp += FirstDataCluster; |
| CWD = ultemp; |
| retvalue = 1; |
| } |
| else |
| { |
| CWD = RootDirectory; |
| retvalue = 1; |
| } |
| return(retvalue); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u8 FindItem(s8 *fname, Find *) |
| // |
| // Description: finds an item (file or directory) within common working directory (cwd). Wildcards '*' or '?' will be considered. |
| // |
| // Returnvalue: If an item was found this function returns '1' else '0'. |
| //________________________________________________________________________________________________________________________________________ |
| u8 FindItem(Find *item) |
| { |
| u16 index = 0; |
| u16 end_of_directory_not_reached = 0; // the directory has been read completely without a result. |
| u8 i = 0; |
| u8 readpointer = 0; |
| u8 writepointer = 0; |
| u8 retvalue = 0; |
| File file; |
| file.cluster_pointer = item->cluster_pointer; |
| file.start_cluster = item->cluster_pointer; |
| index = item->directory_index; |
| // directory starts at sector specified by dir_sector. This can be the rootdirectory or any other directory. |
| do |
| { // search the next 16 rootentries in this sector of the roordirectory. |
| SDC_GetSector((u32) file.cluster_pointer,file.buffer); // Read the Rootdirectory. |
| DirectoryEntry = (struct DirEntry *)file.buffer; |
| while((!retvalue)&&(index<16)) |
| object_size = size; |
| while((size > 0) && success) |
| { |
| i=0; |
| if(DirectoryEntry[index].name[0] != 0xe5) // ignore deleted items. |
| c = fputc_(*pbuff, file); // write a byte from the buffer to the opened file. |
| if(c != EOF) |
| { |
| while((i<=10)&&((DirectoryEntry[index].name[i] == item->searchstring[i]) || (item->searchstring[i]=='*') || item->searchstring[i]=='?')) |
| { |
| i++; |
| } |
| pbuff++; |
| size--; |
| } |
| if((i==11) && (DirectoryEntry[index].attribute & item->attribute)) |
| else |
| { |
| for(readpointer=0;readpointer<=10;readpointer++) |
| { |
| if(DirectoryEntry[index].name[readpointer] != ' ') |
| { |
| item->name[writepointer] = DirectoryEntry[index].name[readpointer]; // copy the name of the item found to the find_structure. |
| writepointer++; |
| } |
| else if((readpointer==7) && (DirectoryEntry[index].attribute == _FILE)) // if the item found is a file |
| { |
| if(DirectoryEntry[index].name[readpointer] != ' ') |
| { |
| item->name[writepointer] = DirectoryEntry[index].name[readpointer]; // copy the name of the item found to the find_structure. |
| writepointer++; |
| } |
| item->name[writepointer] = '.'; // then seperate the name and the extension by a '.' at index 8. |
| writepointer++; |
| } |
| } |
| item->startcluster = (u16)DirectoryEntry[index].startcluster; |
| item->directory_index = ++index; |
| item->cluster_pointer = file.cluster_pointer; |
| retvalue = 1; |
| success = 0; |
| } |
| index++; |
| } |
| if(!retvalue) // file not found in this sector so take next sector. |
| { |
| end_of_directory_not_reached = GetNextCluster(&file); |
| } |
| index = 0; |
| } |
| while((end_of_directory_not_reached) && (!retvalue)); |
| if(success) object_cnt++; |
| } |
| return(retvalue); |
| } |
| return(object_cnt); // return the number of objects succesfully written to the file |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u8 findfirst(s8 *fname, Find *) |
| // |
| // Description: finds the first item (file or directory) within common working directory (cwd). Wildcards '*' or '?' will be considered. |
| // |
| // Returnvalue: If an item was found this function returns '1' else '0'. |
| //________________________________________________________________________________________________________________________________________ |
| u8 findfirst_(s8 *fname, Find *item, u8 attribute) |
| /****************************************************************************************************************************************/ |
| /* Function: fputs_(const s8 *string, File_t *File); */ |
| /* */ |
| /* Description: This function writes a string to the specified file. */ |
| /* */ |
| /* Returnvalue: The function returns a no negative value or EOF on error. */ |
| /****************************************************************************************************************************************/ |
| s16 fputs_(const s8 *string, File_t *file) |
| { |
| u8 retvalue = 0; |
| u8 i = 0; |
| for(i=0;i<=11;i++) |
| { |
| item->searchstring[i] = '*'; // initialise the searchstring with wildcards. |
| item->name[i] = 0; |
| } |
| SeperateFileName(fname,item->searchstring); |
| u8 i=0; |
| s16 c = 0; |
| item->cluster_pointer = CWD; // findfirst_ starts at the beginning of the cwd. |
| item->directory_index = 0; |
| item->attribute = attribute; |
| retvalue = FindItem(item); |
| if((!Partition.IsValid) || (file == NULL) || (string == NULL)) return(0); |
| return(retvalue); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u8 findnext(Find *) |
| // |
| // Description: finds the first item (file or directory) within common working directory (cwd). Wildcards '*' or '?' will be considered. |
| // |
| // Returnvalue: If an item was found this function returns '1' else '0'. |
| //________________________________________________________________________________________________________________________________________ |
| u8 findnext_(Find *item) |
| { |
| u8 retvalue = 0; |
| u8 i = 0; |
| for(i=0;i<=11;i++) // copy the name of the searched item to the findstructure. |
| while((string[i] != 0)&& (c != EOF)) |
| { |
| item->name[i] = 0; |
| c = fputc_(string[i], file); |
| i++; |
| } |
| retvalue = FindItem(item); // search the item. |
| return(retvalue); |
| return(c); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u8 fdelete(s8 *fname) |
| // |
| // Description: Deletes the file specified by fname. |
| // |
| // Returnvalue: |
| //________________________________________________________________________________________________________________________________________ |
| u8 fdelete_(s8 *fname) |
| /****************************************************************************************************************************************/ |
| /* Function: fgets_(s8 *, s16 , File_t *); */ |
| /* */ |
| /* Description: This function reads a string from the file to the specifies string. */ |
| /* */ |
| /* Returnvalue: A pointer to the string read from the file or 0 on error. */ |
| /****************************************************************************************************************************************/ |
| u8 * fgets_(s8 *string, s16 length, File_t *file) |
| { |
| u8 retvalue = 0; |
| Find item; |
| u8 *pbuff; |
| s16 c = 0; |
| retvalue = findfirst_(fname,&item, _FILE); // look for the item to be deleted. |
| if(retvalue); // item found? |
| if((!Partition.IsValid) || (file == NULL) || (string == NULL) || (length = 0)) return (0); |
| pbuff = string; |
| while(length > 1) // read the count-1 characters from the file to the string. |
| { |
| DeleteClusterChain(item.startcluster); // delete all fatentries of the item. |
| DeleteDirectoryEntry(&item); // free the directoryentry. |
| do |
| c = fgetc_(file); // read a character from the opened file. |
| switch(c) |
| { |
| retvalue = findnext_(&item); |
| if(retvalue) |
| { |
| DeleteClusterChain(item.startcluster); // delete all fatentries of the item. |
| DeleteDirectoryEntry(&item); // free the directoryentry. |
| } |
| case 0x0A: |
| c = 0; // set string terminator |
| length = 1; // stop loop |
| break; |
| case EOF: |
| c = 0; // set string terminator |
| length = 1; // stop loop |
| break; |
| } |
| while(retvalue); |
| *pbuff = (u8)c; // copy byte to string |
| length--; |
| pbuff++; |
| } |
| return(retvalue); |
| return(string); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u8 rmdir(s8 *fname) |
| // |
| // Description: Deletes the directory specified by dname. |
| // |
| // Returnvalue: |
| //________________________________________________________________________________________________________________________________________ |
| u8 rmdir_(s8 *dname) |
| /****************************************************************************************************************************************/ |
| /* Function: fexist_(const u8*); */ |
| /* */ |
| /* Description: This function checks if a file already exist. */ |
| /* */ |
| /* Returnvalue: 1 if the file exist else 0. */ |
| /****************************************************************************************************************************************/ |
| u8 fexist_(const s8* filename) |
| { |
| u8 retvalue = 0; |
| Find item; |
| retvalue = findfirst_(dname,&item, _DIRECTORY); // look for the item to be deleted. |
| if(retvalue); // item found? |
| { |
| DeleteClusterChain(item.startcluster); // delete all fatentries of the item. |
| DeleteDirectoryEntry(&item); // free the directoryentry. |
| do |
| { |
| retvalue = findnext_(&item); |
| if(retvalue) |
| { |
| DeleteClusterChain(item.startcluster); // delete all fatentries of the item. |
| DeleteDirectoryEntry(&item); // free the directoryentry. |
| } |
| } |
| while(retvalue); |
| } |
| return(retvalue); |
| u8 exist = 0; |
| File_t *file = 0; |
| file = LockFilePointer(); |
| exist = FileExist(filename, ATTR_NONE, ATTR_SUBDIRECTORY|ATTR_VOLUMELABEL, file); |
| UnlockFilePointer(file); |
| return(exist); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u16 feof_(File *file) |
| // |
| // Description: This function checks wether the end of the file has been reached. |
| // |
| // Returnvalue: 0 if the end of the file was not reached otherwise 1. |
| //________________________________________________________________________________________________________________________________________ |
| u16 feof_(File *file) |
| /****************************************************************************************************************************************/ |
| /* Function: feof_(File_t *File); */ |
| /* */ |
| /* Description: This function checks wether the end of the file has been reached. */ |
| /* */ |
| /* Returnvalue: 0 if the end of the file was not reached otherwise 1. */ |
| /****************************************************************************************************************************************/ |
| u8 feof_(File_t *file) |
| { |
| if(((file->fileposition)+1) < (file->filesize)) |
| if(((file->Position)+1) < (file->Size)) |
| { |
| return(0); |
| } |
| 1539,3 → 1813,5 |
| return(1); |
| } |
| } |
| /trunk/fat16.h |
|---|
| 1,263 → 1,69 |
| #ifndef __fat16_h |
| #define __fat16_h |
| #ifndef _FAT16_H |
| #define _FAT16_H |
| //________________________________________________________________________________________________________________________________________ |
| // |
| // Userspecific definitions |
| // Definitions |
| // |
| //________________________________________________________________________________________________________________________________________ |
| #define __MAX_FILES_USED 1 // The number of files that can be opened simultaneously. |
| //________________________________________________________________________________________________________________________________________ |
| // |
| // Structure of a filepointer |
| // |
| //________________________________________________________________________________________________________________________________________ |
| #define _UNUSED 1 // Bits used in the attribute of an directory entry. |
| #define _USED 2 |
| #define _ARCHIVE 2 |
| #define _READ_ONLY 4 |
| #define _SYSTEM 8 |
| #define _DIRECTORY 16 |
| #define _FILE 32 |
| typedef struct afile |
| //#define __USE_TIME_DATE_ATTRIBUTE |
| #define FILE_MAX_OPEN 3 // The number of files that can accessed simultaneously. |
| #define SEEK_SET 0 |
| #define SEEK_CUR 1 |
| #define SEEK_END 2 |
| #define EOF (-1) |
| #define BYTES_PER_SECTOR 512 |
| /* |
| ________________________________________________________________________________________________________________________________________ |
| Structure of a filepointer |
| ________________________________________________________________________________________________________________________________________ |
| */ |
| typedef struct |
| { |
| u32 start_cluster; // Sectorpointer to the first sector of the first datacluster of the file. |
| u32 cluster_pointer; // Pointer to the cluster which is edited at the moment. |
| u8 sector_index; // The sector which is edited at the moment (cluster_pointer + sector_index). |
| u16 byte_index; // The bytelocation within the current sector (cluster_pointer + sector_index + byte_index). |
| u8 mode; // mode of fileoperation (read,write) |
| u32 filesize; // the size of the opend file in bytes. |
| u32 fileposition; // pointer to a character within the file 0 < fileposition < filesize |
| u32 sector_in_buffer; // the last sector read, wich is still in the sectorbuffer. |
| u32 directory_root_sector; // pointer to the root of the |
| u32 directory_sector; // the sectorposition where the directoryentry has been made. |
| u8 directory_index; // the index to the directoryentry within the specified sector. |
| u8 attribute; // the attribute of the file opened. |
| u8 buffer[512]; // Buffer for read and write operation from or to the mmc. |
| u8 state; // state of the filepointer (used/unused/...) |
| } File; |
| u32 FirstSectorOfFirstCluster; // First sector of the first cluster of the file. |
| u32 FirstSectorOfCurrCluster; // First sector of the cluster which is edited at the moment. |
| u8 SectorOfCurrCluster; // The sector within the current cluster. |
| u16 ByteOfCurrSector; // The byte location within the current sector. |
| u8 Mode; // Mode of fileoperation (read,write) |
| u32 Size; // The size of the opend file in bytes. |
| u32 Position; // Pointer to a character within the file 0 < fileposition < filesize |
| u32 DirectorySector; // the sectorposition where the directoryentry has been made. |
| u16 DirectoryIndex; // The index to the directoryentry within the specified sector. |
| u8 Attribute; // The attribute of the file opened. |
| u8 Cache[BYTES_PER_SECTOR]; // Cache for read and write operation from or to the sd-card. |
| u32 SectorInCache; // The last sector read, which is still in the sector cache. |
| u8 State; // State of the filepointer (used/unused/...) |
| } File_t; |
| typedef enum |
| { |
| NOT_INITIALIZED, |
| INITIALIZED |
| }Fat16_VolumeState_t; |
| //________________________________________________________________________________________________________________________________________ |
| // |
| // Structure of an item to find within the cwd |
| // |
| //________________________________________________________________________________________________________________________________________ |
| struct volume |
| { |
| Fat16_VolumeState_t state; // state of the volume |
| } str_Volume; |
| //________________________________________________________________________________________________________________________________________ |
| // |
| // Structure of an item to find within the cwd |
| // |
| //________________________________________________________________________________________________________________________________________ |
| typedef struct find |
| { |
| s8 name[12]; // filename + extension or directoryname of the item found within the cwd. |
| s8 searchstring[13]; |
| u32 cluster_pointer; // Sectorpointer to the sector of the item searched within the cwd. |
| u16 startcluster; // pointer to the first datacluster of the item found in the cwd. |
| u32 filesize; // the size of the opend file in bytes. |
| u32 directory_sector; // the sector within the actual cluster where the directoryentry was found. |
| u8 directory_index; // the index to the directoryentry within the specified sector. |
| u8 attribute; // the attribute of the file opened. |
| } Find; |
| //________________________________________________________________________________________________________________________________________ |
| // |
| // Directoryentries |
| // |
| //________________________________________________________________________________________________________________________________________ |
| struct DirEntry |
| { |
| u8 name[8]; // 8 bytes name. |
| u8 extension[3]; // 3 bytes extension. |
| u8 attribute; // attribute of the directory entry (unused,archive,read-only,system,directory,volume) |
| u8 reserved[10]; // reserved bytes within the directory entry. |
| u16 time; // time and |
| u16 date; // date of last write acces to the file or directory. |
| u16 startcluster; // first cluster of the file or directory. |
| u32 size; // size of the file or directory in bytes. |
| } __attribute__((packed)); |
| //________________________________________________________________________________________________________________________________________ |
| // |
| // Structure of an entry within the fileallocationtable. |
| // |
| //________________________________________________________________________________________________________________________________________ |
| struct FatEntry |
| { |
| u16 next_cluster; // the next cluster of the file. |
| } __attribute__((packed)); |
| //________________________________________________________________________________________________________________________________________ |
| // |
| // Partitions |
| // |
| //________________________________________________________________________________________________________________________________________ |
| #define _EMPTY 0x00 |
| #define _FAT12 0x01 |
| #define _FAT16_ST_32_MB 0x04 |
| #define _EXTENDED 0x05 |
| #define _FAT16_LT_32_MB 0x06 |
| #define _HPFS 0x07 |
| #define _FAT32 0x0B |
| #define _FAT32_BIOS_Extension 0x0C |
| #define _FAT16_32_MB_BIOS_Extension 0x0E |
| #define _EXTENDED_BIOS_Extension 0x0F |
| #define _EISA 0x12 |
| #define _DYNAMIC 0x42 |
| #define _Linux_Swap 0x82 |
| #define _Linux_Native 0x83 |
| #define _Linux_LVM 0x8E |
| #define _FreeBSD 0xA5 |
| #define _OpenBSD 0xA6 |
| #define _NetBSD 0xA9 |
| struct PartitionEntry |
| { |
| u8 PartitionState; |
| u8 BeginningHead; |
| u16 BeginningCylinder; |
| u8 Type; |
| u8 EndHead; |
| u16 EndCylinder; |
| u32 NoSectorsBeforePartition; |
| u32 NoSectorsPartition ; |
| } __attribute__((packed)); |
| //________________________________________________________________________________________________________________________________________ |
| // |
| // Structure of the VolumeBootRecord |
| // |
| //________________________________________________________________________________________________________________________________________ |
| struct VBR_Entry |
| { |
| u8 dummy[11]; |
| u16 bps; |
| u8 SectorsPerCluster; |
| u16 ReservedSectors; |
| u8 NoFATCopies; |
| u16 MaxRootEntries; |
| u16 dummy2; |
| u8 dummy3; |
| u16 SectorsPerFAT; |
| } __attribute__((packed)); |
| //________________________________________________________________________________________________________________________________________ |
| // |
| // Structure of the MasterBootRecord |
| // |
| //________________________________________________________________________________________________________________________________________ |
| #define _MBR_SECTOR 0 // The MasterBootRecord is located in sector 0 |
| struct MBR_Entry |
| { |
| u8 ExecutableCode[446]; |
| struct PartitionEntry PartitionEntry1; |
| struct PartitionEntry PartitionEntry2; |
| struct PartitionEntry PartitionEntry3; |
| struct PartitionEntry PartitionEntry4; |
| u16 ExecutableMarker; |
| } __attribute__((packed)); |
| //________________________________________________________________________________________________________________________________________ |
| // |
| // API to the FAT16 filesystem |
| // |
| //________________________________________________________________________________________________________________________________________ |
| extern u8 InitFat16(void); |
| extern File * fopen_(s8 *fname,s8 mode); |
| extern s16 fflush_(File *file); |
| extern void fclose_(File *file); |
| extern u32 fread_(void *buffer, u32 size, u32 count, File *file); |
| extern u32 fwrite_(void *buffer, u32 size, u32 count, File *file); |
| extern s16 fseek_(File *file, s32 offset, s16 origin); |
| extern s16 fgetchar_(File *file); |
| extern u8 fputchar_(File *file,s8 c); |
| extern u8 fputs_(File *file,s8 *string); |
| extern s8 * fgets_(s8 *s, s16 count, File *file); |
| extern s16 frename_(s8 *oldname, s8 *newname); |
| extern u8 fexist_(s8 *fname); |
| extern u8 mkdir_(s8 *fname); |
| extern u8 chdir_(s8 *fname); |
| extern u8 findfirst_(s8 *fname, Find *item, u8 attribute); |
| extern u8 findnext_(Find *item); |
| extern u16 feof_(File *); |
| u8 Fat16_Init(void); |
| u8 Fat16_Deinit(void); |
| File_t *fopen_(const s8 *filename, const s8 mode); |
| s16 fclose_(File_t *file); |
| u8 fexist_(const s8 *filename); |
| s16 fflush_(File_t *file); |
| s16 fseek_(File_t *file, s32 offset, s16 origin); |
| s16 fgetc_(File_t *file); |
| s16 fputc_(s8 c, File_t *file); |
| u32 fread_(void *buffer, u32 size, u32 count, File_t *file); |
| u32 fwrite_(void *buffer, u32 size, u32 count, File_t *file); |
| s16 fputs_(const s8 *string, File_t *file); |
| u8 * fgets_(s8 *string, s16 length, File_t *file); |
| u8 feof_(File_t *file); |
| //________________________________________________________________________________________________________________________________________ |
| // |
| // Functions needed internaly for the fat16 implementation |
| // |
| //________________________________________________________________________________________________________________________________________ |
| #endif //_FAT16_H |
| extern u8 SeekFileInDirectory(s8*fname, File *file); |
| extern u8 CreateFileInDirectory(s8*fname, File *file); |
| extern u16 FindNextFreeCluster(File *file); |
| extern void SeperateFileName(s8*fname, s8*name); |
| extern u8 ScanSubDirectories(s8*fname, File *file); |
| extern u16 GetNextCluster(File *file); |
| extern u8 AppendCluster(File *file); |
| extern u16 GetFatClusterOffset(File *file); |
| extern u16 GetFatSectorIndex(File *file); |
| extern File * ReserveFilePointer(void); |
| extern u16 SeekSubDirectory(s8 *fname); |
| extern u8 CreateSubDirectory_(s8 *fname); |
| extern u8 FindItem(Find *); |
| extern void FreeFilePointer(File *file); |
| //________________________________________________________________________________________________________________________________________ |
| // |
| // Vaiables needed internaly for the fat16 implementation |
| // |
| //________________________________________________________________________________________________________________________________________ |
| extern u8 SectorsPerCluster; |
| extern u32 CWD; |
| #endif |
| /trunk/fifo.c |
|---|
| 0,0 → 1,45 |
| #include "fifo.h" |
| u8 fifo_init (fifo_t *f, u8 *buffer, const u8 size) |
| { |
| if(f == NULL) return(0); |
| f->buffer = buffer; |
| f->count = 0; |
| f->pread = buffer; |
| f->pwrite = buffer; |
| f->size = size; |
| return(1); |
| } |
| u8 fifo_put (fifo_t *f, const u8 data) |
| { |
| if (f->count >= f->size) return(0); // return 0 in case of FIFO overflow. |
| u8 * pwrite = f->pwrite; |
| *(pwrite++) = data; // copy data byte to buffer |
| if(pwrite >= f->buffer + f->size) pwrite = f->buffer; // start at the begining after reaching the end |
| f->pwrite = pwrite; |
| f->count++; |
| return 1; |
| } |
| u8 fifo_get (fifo_t *f, u8 *pdata) |
| { |
| if((f == NULL) || (pdata == NULL)) return(0); |
| if(!f->count) return(0); |
| u8 *pread = f->pread; |
| *pdata = *(pread++); |
| if(pread >= f->buffer + f->size) pread = f->buffer; // start at the begining after reaching the end |
| f->pread = pread; |
| f->count--; |
| return(1); |
| } |
| u8 fifo_get_wait (fifo_t *f, u8 *pdata) |
| { |
| while (!f->count); |
| return fifo_get(f, pdata); |
| } |
| /trunk/fifo.h |
|---|
| 0,0 → 1,45 |
| #ifndef _FIFO_H_ |
| #define _FIFO_H_ |
| #include <stdio.h> |
| #include "91x_lib.h" |
| // the fifo object |
| typedef struct |
| { |
| u8 *buffer; // pointrer to start of the ringbuffer |
| u8 count; // number of characters in FIFO |
| u8 size; // buffer size |
| u8 *pread; // read pointer |
| u8 *pwrite; // write pointer |
| } fifo_t; |
| /* |
| The initialization of the FIFO sets the read/write pointers etc.. |
| The FIFO uses the buffer 'buf' which byte length must 'size'. |
| Returns 1 on success ans 0 in case of an error. |
| */ |
| u8 fifo_init (fifo_t* f, u8* buf, const u8 size); |
| /* |
| Puts a byte into the FIFO. Returns 1 on success and 0 in case of FIFO overflow. |
| */ |
| u8 fifo_put (fifo_t* f, const u8 data); |
| /* |
| Get the next byte from the FIFO as int. Returns 0 if the FIFO is empty. |
| */ |
| u8 fifo_get (fifo_t* f, u8* pdata); |
| /* |
| Get the next byte out of the FIFO. If the FIFO is empty the function blocks |
| until the next byte is put into the FIFO. |
| */ |
| u8 fifo_get_wait (fifo_t* f, u8* pdata); |
| #endif /* _FIFO_H_ */ |
| /trunk/i2c.c |
|---|
| 54,176 → 54,440 |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include <string.h> |
| #include "91x_lib.h" |
| #include "i2c.h" |
| #include "uart1.h" |
| #include "timer.h" |
| #include "main.h" |
| #include "led.h" |
| #include "spi_slave.h" |
| u8 I2C_RxBufferSize, I2C_TxBufferSize; |
| u8 *I2C_TxBuffer, *I2C_RxBuffer; |
| u8 Tx_Idx=0, Rx_Idx=0, I2C_Direction; |
| u8 I2C_Command; |
| struct str_I2C_Heading I2C_Heading; |
| struct str_I2C_WriteNickRoll I2C_WriteNickRoll; |
| struct str_I2C_Mag I2C_Mag; |
| struct str_I2C_EEPROM I2C_ReadEEPROM, I2C_WriteEEPROM; |
| struct str_I2C_Version I2C_Version; |
| struct str_I2C_WriteCal I2C_WriteCal; |
| u8 CompassUpdateActiv = 0; |
| u8 CompassCalState = 0; |
| volatile I2C_State_t I2C_State = I2C_OFF; |
| // rxbuffer |
| volatile u8 I2C_RxBufferSize; |
| volatile u8 *I2C_RxBuffer; |
| volatile u8 Rx_Idx = 0; |
| // txbuffer |
| volatile u8 I2C_TxBufferSize; |
| volatile u8 *I2C_TxBuffer; |
| volatile u8 Tx_Idx = 0; |
| volatile u8 I2C_Direction; |
| volatile u8 I2C_Command; |
| volatile I2C_Heading_t I2C_Heading; |
| volatile I2C_WriteAttitude_t I2C_WriteAttitude; |
| volatile I2C_Mag_t I2C_Mag; |
| volatile I2C_Version_t MK3MAG_Version; |
| volatile I2C_Cal_t I2C_WriteCal; |
| volatile I2C_Cal_t I2C_ReadCal; |
| volatile u8 I2C_ReadRequest = 0; |
| volatile u32 I2C1_Timeout = 0; |
| volatile u32 CheckI2COkay = 0; |
| volatile u8 I2C_PrimRxBuffer[10]; // must be larger than any of the secondary rx buffers |
| //-------------------------------------------------------------- |
| void I2C1_Init(void) |
| { |
| I2C_InitTypeDef I2C_Struct; |
| GPIO_InitTypeDef GPIO_Struct; |
| I2C_InitTypeDef I2C_Struct; |
| GPIO_InitTypeDef GPIO_InitStructure; |
| SerialPutString("I2C init..."); |
| SCU_APBPeriphClockConfig(__I2C1,ENABLE); |
| I2C_DeInit(I2C1); |
| SerialPutString("\r\n I2C init..."); |
| // enable Port 2 peripherie |
| SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
| // disable a reset state |
| SCU_APBPeriphReset(__GPIO2, DISABLE); |
| GPIO_Struct.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
| GPIO_Struct.GPIO_Type = GPIO_Type_OpenCollector; |
| GPIO_Struct.GPIO_IPConnected = GPIO_IPConnected_Enable; |
| GPIO_Struct.GPIO_Alternate=GPIO_OutputAlt2; |
| GPIO_Init(GPIO2, &GPIO_Struct); |
| // free a busy bus |
| I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable; |
| I2C_Struct.I2C_Ack = I2C_Ack_Enable; |
| I2C_Struct.I2C_CLKSpeed = 20000; |
| I2C_Struct.I2C_OwnAddress = I2C_SLAVE_ADDRESS; |
| I2C_Init(I2C1, &I2C_Struct); |
| // At switch on I2C devices can get in a state where they |
| // are still waiting for a command due to all the bus lines bouncing |
| // around at startup have started clocking data into the device(s). |
| // Enable the ports as open collector port outputs |
| // and clock out at least 9 SCL pulses, then generate a stop |
| // condition and then leave the clock line high. |
| I2C_Cmd(I2C1, ENABLE); |
| I2C_ITConfig(I2C1, ENABLE); |
| // configure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT to normal port operation |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
| GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; |
| GPIO_Init(GPIO2, &GPIO_InitStructure); |
| VIC_Config(I2C1_ITLine,VIC_IRQ , 8); |
| VIC_ITCmd(I2C1_ITLine, ENABLE); |
| u8 i; |
| u32 delay; |
| // set SCL high and then SDA to low (start condition) |
| GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET); |
| delay = SetDelay(1); |
| while (!CheckDelay(delay)); |
| GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_RESET); |
| // toggle SCL at least 10 times from high to low to high |
| for(i = 0; i < 10; i++) |
| { |
| delay = SetDelay(1); |
| while (!CheckDelay(delay)); |
| I2C_Heading.Heading = 0; |
| SerialPutString("ok\n\r"); |
| GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_RESET); |
| delay = SetDelay(1); |
| while (!CheckDelay(delay)); |
| GPIO_WriteBit(GPIO2, GPIO_Pin_2, Bit_SET); |
| } |
| delay = SetDelay(1); |
| while (!CheckDelay(delay)); |
| // create stop condition setting SDA HIGH when SCL is HIGH |
| GPIO_WriteBit(GPIO2, GPIO_Pin_3, Bit_SET); |
| // reconfigure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_OpenCollector; |
| GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //I2C1_CLKOUT, I2C1_DOUT |
| GPIO_Init(GPIO2, &GPIO_InitStructure); |
| // enable I2C peripherie |
| SCU_APBPeriphClockConfig(__I2C1,ENABLE); |
| // reset I2C peripherie |
| SCU_APBPeriphReset(__I2C1,ENABLE); |
| SCU_APBPeriphReset(__I2C1,DISABLE); |
| I2C_DeInit(I2C1); |
| I2C_StructInit(&I2C_Struct); |
| I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable; |
| I2C_Struct.I2C_Ack = I2C_Ack_Enable; |
| I2C_Struct.I2C_CLKSpeed = 20000; |
| I2C_Struct.I2C_OwnAddress = 0x00; |
| I2C_Init(I2C1, &I2C_Struct); |
| I2C_TxBuffer = NULL; |
| Tx_Idx = 0; |
| I2C_TxBufferSize = 0; |
| I2C_RxBuffer = NULL; |
| Rx_Idx = 0; |
| I2C_RxBufferSize = 0; |
| I2C_Cmd(I2C1, ENABLE); |
| I2C_ITConfig(I2C1, ENABLE); |
| VIC_Config(I2C1_ITLine, VIC_IRQ , 0); |
| VIC_ITCmd(I2C1_ITLine, ENABLE); |
| I2C1_Timeout = SetDelay(1000); |
| I2C_Heading.Heading = -1; |
| I2C_GenerateSTOP(I2C1, ENABLE); |
| I2C_State = I2C_IDLE; |
| SerialPutString("ok"); |
| } |
| //-------------------------------------------------------------- |
| void I2C1_IRQHandler(void) |
| void I2C1_Deinit(void) |
| { |
| GPIO_InitTypeDef GPIO_InitStructure; |
| switch (I2C_GetLastEvent(I2C1)) |
| { |
| case I2C_EVENT_MASTER_MODE_SELECT: // EV5 |
| Tx_Idx = 0; |
| Rx_Idx = 0; |
| I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction); |
| // DebugOut.Analog[16]++; |
| break; |
| SerialPutString("\r\n I2C deinit..."); |
| I2C_GenerateStart(I2C1, DISABLE); |
| I2C_GenerateSTOP(I2C1, ENABLE); |
| VIC_ITCmd(I2C1_ITLine, DISABLE); |
| I2C_ITConfig(I2C1, DISABLE); |
| I2C_Cmd(I2C1, DISABLE); |
| I2C_DeInit(I2C1); |
| SCU_APBPeriphClockConfig(__I2C1, DISABLE); |
| // set ports to input |
| SCU_APBPeriphClockConfig(__GPIO2, ENABLE); |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| GPIO_Init(GPIO2, &GPIO_InitStructure); |
| case I2C_EVENT_MASTER_MODE_SELECTED: // EV6 |
| // Clear EV6 by set again the PE bit |
| I2C1->CR |= 0x20; |
| if (I2C_Direction == I2C_MODE_TRANSMITTER) |
| { |
| I2C_SendData(I2C1, I2C_Command);//EV8 just after EV6 |
| } |
| break; |
| I2C_TxBuffer = NULL; |
| Tx_Idx = 0; |
| I2C_TxBufferSize = 0; |
| case I2C_EVENT_MASTER_BYTE_TRANSMITTED: // EV8 |
| // DebugOut.Analog[17]++; |
| if ( Tx_Idx >= I2C_TxBufferSize ) |
| { |
| I2C_GenerateSTOP (I2C1, ENABLE); |
| Tx_Idx = 0; |
| if (I2C_RxBufferSize > 0) // wird Antwort erwartet ? |
| { |
| I2C_ReadRequest = 1; |
| TimerI2CReadDelay = SetDelay(10); |
| } |
| } |
| else |
| { |
| I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]); |
| Tx_Idx++; |
| } |
| break; |
| I2C_RxBuffer = NULL; |
| Rx_Idx = 0; |
| I2C_RxBufferSize = 0; |
| case I2C_EVENT_MASTER_BYTE_RECEIVED: // EV7 |
| DebugOut.Analog[16]++; |
| //if (Rx_Idx == 1) DebugOut.Analog[19] = I2C_RxBuffer[0]; |
| if (Rx_Idx < I2C_RxBufferSize) |
| { I2C_RxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1); |
| I2C_State = I2C_OFF; |
| } else I2C_ReceiveData(I2C1); |
| I2C1_Timeout = 0; |
| I2C_Heading.Heading = -1; |
| Rx_Idx++; |
| if ( Rx_Idx == I2C_RxBufferSize+1 ) |
| { |
| I2C_AcknowledgeConfig (I2C1, DISABLE); |
| } |
| if ( Rx_Idx == I2C_RxBufferSize+2 ) |
| { |
| I2C_GenerateSTOP(I2C1, ENABLE); |
| if (I2C_Command == I2C_CMD_READ_HEADING) CompassUpdateActiv = 0; |
| } |
| break; |
| SerialPutString("ok"); |
| } |
| default: |
| break; |
| } |
| //-------------------------------------------------------------- |
| void I2C1_IRQHandler(void) |
| { |
| u16 status; |
| static u8 crc; |
| // detemine I2C State |
| status = I2C_GetLastEvent(I2C1); |
| if(status & (I2C_FLAG_AF|I2C_FLAG_BERR)) // if an acknowledge failure or bus error occured |
| { // Set and subsequently clear the STOP bit while BTF is set. |
| while(I2C_GetFlagStatus (I2C1, I2C_FLAG_BTF) != RESET) |
| { |
| I2C_GenerateSTOP (I2C1, ENABLE); // free the bus |
| I2C_GenerateSTOP (I2C1, DISABLE); // free the bus |
| } |
| I2C_State = I2C_IDLE; |
| LED_GRN_OFF; |
| } |
| else |
| { // depending on current i2c state |
| switch (status) |
| { |
| // the start condition was initiated on the bus |
| case I2C_EVENT_MASTER_MODE_SELECT: |
| LED_GRN_ON; |
| // update current bus state variable |
| switch(I2C_Direction) |
| { |
| case I2C_MODE_TRANSMITTER: |
| I2C_State = I2C_TX_PROGRESS; |
| break; |
| case I2C_MODE_RECEIVER: |
| if ((I2C_RxBuffer == NULL) || (I2C_RxBufferSize == 0)) |
| { |
| I2C_GenerateSTOP (I2C1, ENABLE); |
| I2C_State = I2C_IDLE; |
| return; |
| } |
| else |
| { |
| I2C_State = I2C_RX_PROGRESS; |
| } |
| break; |
| default: // invalid direction |
| I2C_GenerateSTOP (I2C1, ENABLE); |
| I2C_State = I2C_IDLE; |
| LED_GRN_OFF; |
| return; |
| } |
| // enable acknowledge |
| I2C_AcknowledgeConfig (I2C1, ENABLE); |
| // send address/direction byte on the bus |
| I2C_Send7bitAddress(I2C1, I2C_SLAVE_ADDRESS, I2C_Direction); |
| break; |
| // the address byte was send |
| case I2C_EVENT_MASTER_MODE_SELECTED: |
| // Clear EV6 by set again the PE bit |
| I2C_Cmd(I2C1, ENABLE); |
| // reset checksum |
| crc = 0; |
| switch(I2C_State) |
| { |
| case I2C_TX_PROGRESS: |
| // send command 1st data byte (allways the command id) |
| I2C_SendData(I2C1, I2C_Command); |
| crc += I2C_Command; |
| Tx_Idx = 0; |
| // reset timeout |
| I2C1_Timeout = SetDelay(500); // after 500 ms of inactivity the I2C1 bus will be reset |
| break; |
| case I2C_RX_PROGRESS: |
| Rx_Idx = 0; |
| break; |
| default: // unknown I2C state |
| // should never happen |
| I2C_GenerateSTOP (I2C1, ENABLE); |
| I2C_State = I2C_IDLE; |
| break; |
| } |
| break; |
| // the master has transmitted a byte and slave has been acknowledged |
| case I2C_EVENT_MASTER_BYTE_TRANSMITTED: |
| // some bytes have to be transmitted |
| if(Tx_Idx < I2C_TxBufferSize) |
| { |
| if(I2C_TxBuffer != NULL) |
| { |
| I2C_SendData(I2C1, I2C_TxBuffer[Tx_Idx]); |
| crc += I2C_TxBuffer[Tx_Idx]; |
| } |
| else |
| { |
| I2C_SendData(I2C1, 0x00); |
| } |
| } |
| else // the last tx buffer byte was send |
| { |
| // send crc byte at the end |
| I2C_SendData(I2C1, crc); |
| // generate stop or repeated start condition |
| if ((I2C_RxBuffer != NULL) && (I2C_RxBufferSize > 0)) // is any answer byte expected? |
| { |
| I2C_Direction = I2C_MODE_RECEIVER; // switch to master receiver after repeated start condition |
| I2C_GenerateStart(I2C1, ENABLE); // initiate repeated start condition on the bus |
| } |
| else |
| { // stop communication |
| I2C_GenerateSTOP(I2C1, ENABLE); // generate stop condition to free the bus |
| I2C_State = I2C_IDLE; // ready for new actions |
| LED_GRN_OFF; |
| DebugOut.Analog[15]++; |
| } |
| } |
| Tx_Idx++; |
| break; |
| // the master has received a byte from the slave |
| case I2C_EVENT_MASTER_BYTE_RECEIVED: |
| // some bytes have to be received |
| if (Rx_Idx < I2C_RxBufferSize) |
| { // copy received byte from the data register to the rx-buffer |
| I2C_PrimRxBuffer[Rx_Idx] = I2C_ReceiveData(I2C1); |
| // update checksum |
| crc += I2C_PrimRxBuffer[Rx_Idx]; |
| } |
| // if the last byte (crc) was received |
| else if ( Rx_Idx == I2C_RxBufferSize) |
| { |
| // generate a STOP condition on the bus before reading data register |
| I2C_GenerateSTOP(I2C1, ENABLE); |
| // compare last byte with checksum |
| if(crc == I2C_ReceiveData(I2C1)) |
| { // copy primary rx buffer content to rx buffer if exist |
| if(I2C_RxBuffer != NULL) |
| { |
| memcpy((u8 *)I2C_RxBuffer, (u8 *)I2C_PrimRxBuffer, I2C_RxBufferSize); |
| } |
| DebugOut.Analog[15]++; |
| CheckI2COkay++; |
| } |
| else // checksum error detected |
| { |
| DebugOut.Analog[14]++; |
| } |
| I2C_State = I2C_IDLE; |
| LED_GRN_OFF; |
| } |
| Rx_Idx++; |
| // if the 2nd last byte was received disable acknowledge for the last one |
| if ( Rx_Idx == I2C_RxBufferSize ) |
| { |
| I2C_AcknowledgeConfig (I2C1, DISABLE); |
| } |
| break; |
| default: |
| break; |
| } |
| } |
| } |
| //---------------------------------------------------------------- |
| void SendI2C_Command(u8 command) |
| void I2C1_SendCommand(u8 command) |
| { |
| I2C_Command = command; |
| //I2C_GenerateSTOP(I2C1, ENABLE); |
| // If I2C transmission is in progress |
| while (I2C_State != I2C_IDLE) return; // return imediatly if a transfer is still in progress |
| // disable I2C IRQ to avoid read/write access to the tx/rx buffer pointers during |
| // update of that buffer pointers and length |
| I2C_ITConfig(I2C1, DISABLE); |
| // update current command id |
| I2C_Command = command; |
| // set pointers to data area with respect to the command id |
| switch (command) |
| { |
| case I2C_CMD_VERSION: |
| I2C_RxBuffer = (u8 *)&MK3MAG_Version; |
| I2C_RxBufferSize = sizeof(MK3MAG_Version); |
| I2C_TxBuffer = NULL; |
| I2C_TxBufferSize = 0; |
| break; |
| case I2C_CMD_WRITE_CAL: |
| I2C_RxBuffer = (u8 *)&I2C_ReadCal; |
| I2C_RxBufferSize = sizeof(I2C_ReadCal); |
| I2C_TxBuffer = (u8 *)&I2C_WriteCal; |
| I2C_TxBufferSize = sizeof(I2C_WriteCal); |
| break; |
| case I2C_CMD_READ_MAG: |
| I2C_RxBuffer = (u8 *)&I2C_Mag; |
| I2C_RxBufferSize = sizeof(I2C_Mag); |
| I2C_TxBuffer = NULL; |
| I2C_TxBufferSize = 0; |
| break; |
| case I2C_CMD_READ_HEADING: |
| DebugOut.Analog[26] = I2C_Heading.Heading; |
| I2C_RxBuffer = (u8 *)&I2C_Heading; |
| I2C_RxBufferSize = sizeof(I2C_Heading); |
| // updat atitude from spi rx buffer |
| I2C_WriteAttitude.Roll = FromFlightCtrl.IntegralRoll; |
| I2C_WriteAttitude.Nick = FromFlightCtrl.IntegralNick; |
| I2C_TxBuffer = (u8 *)&I2C_WriteAttitude; |
| I2C_TxBufferSize = sizeof(I2C_WriteAttitude); |
| break; |
| default: // unknown command id |
| I2C_RxBuffer = NULL; |
| I2C_RxBufferSize = 0; |
| I2C_TxBuffer = NULL; |
| I2C_TxBufferSize = 0; |
| break; |
| } |
| // enable I2C IRQ again |
| I2C_ITConfig(I2C1, ENABLE); |
| // set direction to master transmitter |
| I2C_Direction = I2C_MODE_TRANSMITTER; |
| // test on busy flag and clear it |
| I2C_CheckEvent( I2C1, I2C_FLAG_BUSY ); |
| // initiale start condition on the bus |
| I2C_GenerateStart(I2C1, ENABLE); |
| // to be continued in the I2C1_IRQHandler() above |
| switch (command) |
| { |
| case I2C_CMD_VERSION: |
| I2C_RxBuffer = (u8 *)&I2C_Version; |
| I2C_RxBufferSize = sizeof(I2C_Version); |
| I2C_TxBufferSize = 0; |
| break; |
| case I2C_CMD_WRITE_EEPROM: |
| I2C_RxBufferSize = 0; |
| I2C_TxBuffer = (u8 *)&I2C_WriteEEPROM; |
| I2C_TxBufferSize = sizeof(I2C_WriteEEPROM); |
| break; |
| case I2C_CMD_WRITE_CAL: |
| I2C_RxBufferSize = 0; |
| I2C_WriteCal.CalByte = CompassCalState; |
| I2C_TxBuffer = (u8 *)&I2C_WriteCal; |
| I2C_TxBufferSize = sizeof(I2C_WriteCal); |
| break; |
| case I2C_CMD_READ_EEPROM: |
| I2C_RxBuffer = (u8 *)&I2C_ReadEEPROM.Inhalt; |
| I2C_RxBufferSize = 2; |
| I2C_TxBuffer = (u8 *)&I2C_ReadEEPROM; |
| I2C_TxBufferSize = 1; |
| break; |
| case I2C_CMD_READ_MAG: |
| I2C_RxBuffer = (u8 *)&I2C_Mag; |
| I2C_RxBufferSize = sizeof(I2C_Mag); |
| I2C_TxBufferSize = 0; |
| break; |
| case I2C_CMD_READ_HEADING: |
| CompassUpdateActiv = 1; |
| I2C_RxBuffer = (u8 *)&I2C_Heading; |
| I2C_RxBufferSize = sizeof(I2C_Heading); |
| I2C_TxBuffer = (u8 *)&I2C_WriteNickRoll; |
| I2C_TxBufferSize = sizeof(I2C_WriteNickRoll); |
| break; |
| } |
| } |
| /* |
| if (I2C_RxBufferSize > 0) |
| { |
| I2C_RxBufferSize++; |
| if (I2C_RxBufferSize < 3) I2C_RxBufferSize = 3; |
| }*/ |
| //---------------------------------------------------------------- |
| void I2C1_GetMK3MagVersion(void) |
| { |
| u8 msg[20]; |
| u8 repeat = 10; |
| I2C_AcknowledgeConfig (I2C1, ENABLE); |
| I2C_Direction = I2C_MODE_TRANSMITTER; |
| MK3MAG_Version.Major = 0xFF; |
| MK3MAG_Version.Minor = 0xFF; |
| MK3MAG_Version.Patch = 0xFF; |
| MK3MAG_Version.Compatible = 0xFF; |
| I2C_GenerateStart(I2C1, ENABLE); |
| while ((MK3MAG_Version.Major == 0xFF) && (repeat != 0)) |
| { |
| I2C1_SendCommand(I2C_CMD_VERSION); |
| I2C1_Timeout = SetDelay(500); |
| while (!CheckDelay(I2C1_Timeout)) if (MK3MAG_Version.Major != 0xFF) break; |
| repeat--; |
| } |
| if (MK3MAG_Version.Major != 0xFF) |
| { |
| sprintf(msg, "\n\r MK3Mag V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch); |
| SerialPutString(msg); |
| sprintf(msg, " Compatible: %d", MK3MAG_Version.Compatible); |
| SerialPutString(msg); |
| } |
| else SerialPutString("\n\rNo version information from MK3Mag."); |
| } |
| /trunk/i2c.h |
|---|
| 1,68 → 1,76 |
| #ifndef __I2C |
| #define __I2C |
| #ifndef __I2C_H |
| #define __I2C_H |
| #define I2C_SLAVE_ADDRESS 0x50 |
| #define I2C_SLAVE_ADDRESS 0x50 |
| #define I2C_CMD_VERSION 0x01 |
| struct str_I2C_Version |
| { |
| u8 Hauptversion; |
| u8 Nebenversion; |
| u8 Comp; |
| } __attribute__((packed)); |
| #define I2C_CMD_VERSION 0x01 |
| #define I2C_CMD_READ_MAG 0x02 |
| #define I2C_CMD_READ_HEADING 0x03 |
| #define I2C_CMD_WRITE_CAL 0x04 |
| #define I2C_CMD_WRITE_EEPROM 0x0A |
| #define I2C_CMD_READ_EEPROM 0x0B |
| struct str_I2C_EEPROM |
| typedef struct |
| { |
| u8 Adresse; |
| u16 Inhalt; |
| } __attribute__((packed)); |
| u8 Major; |
| u8 Minor; |
| u8 Patch; |
| u8 Compatible; |
| } __attribute__((packed)) I2C_Version_t; |
| #define I2C_CMD_READ_MAG 0x02 |
| struct str_I2C_Mag |
| typedef struct |
| { |
| u16 MagX; |
| u16 MagY; |
| u16 MagZ; |
| } __attribute__((packed)); |
| s16 MagX; |
| s16 MagY; |
| s16 MagZ; |
| } __attribute__((packed)) I2C_Mag_t; |
| #define I2C_CMD_READ_HEADING 0x03 |
| struct str_I2C_WriteNickRoll |
| typedef struct |
| { |
| s16 Nick; |
| s16 Roll; |
| } __attribute__((packed)); |
| } __attribute__((packed)) I2C_WriteAttitude_t; |
| #define I2C_CMD_WRITE_CAL 0x04 |
| struct str_I2C_WriteCal |
| typedef struct |
| { |
| u8 CalByte; |
| u8 Dummy1; |
| u8 Dummy2; |
| } __attribute__((packed)); |
| } __attribute__((packed)) I2C_Cal_t; |
| struct str_I2C_Heading |
| typedef struct |
| { |
| u16 Heading; |
| } __attribute__((packed)); |
| s16 Heading; |
| } __attribute__((packed)) I2C_Heading_t; |
| typedef enum |
| { |
| I2C_UNDEF, |
| I2C_IDLE, |
| I2C_TX_PROGRESS, |
| I2C_RX_PENDING, |
| I2C_RX_PROGRESS, |
| I2C_OFF |
| } I2C_State_t; |
| extern u8 Tx_Idx, Rx_Idx, I2C_Direction; |
| extern volatile I2C_State_t I2C_State; |
| extern volatile u8 I2C_Direction; |
| extern volatile u32 I2C1_Timeout; |
| extern struct str_I2C_Heading I2C_Heading; |
| extern struct str_I2C_WriteNickRoll I2C_WriteNickRoll; |
| extern struct str_I2C_Mag I2C_Mag; |
| extern struct str_I2C_EEPROM I2C_ReadEEPROM, I2C_WriteEEPROM; |
| extern struct str_I2C_Version I2C_Version; |
| extern struct str_I2C_WriteCal I2C_WriteCal; |
| extern void I2C1_Init(void); |
| extern void SendI2C_Command(u8 command); |
| extern u8 CompassUpdateActiv; |
| extern volatile u8 I2C_ReadRequest; |
| extern u8 CompassCalState; |
| extern volatile I2C_Heading_t I2C_Heading; |
| extern volatile I2C_WriteAttitude_t I2C_WriteAttitude; |
| extern volatile I2C_Mag_t I2C_Mag; |
| extern volatile I2C_Version_t MK3MAG_Version; |
| extern volatile I2C_Cal_t I2C_WriteCal; |
| extern volatile I2C_Cal_t I2C_ReadCal; |
| extern volatile u32 CheckI2COkay; |
| void I2C1_Init(void); |
| void I2C1_Deinit(void); |
| void I2C1_SendCommand(u8 command); |
| void I2C1_GetMK3MagVersion(void); |
| #endif |
| #endif // I2C_H |
| /trunk/interrupt.c |
|---|
| 54,8 → 54,11 |
| // + 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 "usb_lib.h" |
| #include "fat16.h" |
| #include "main.h" |
| #include "uart1.h" |
| #define global extern /* to declare external variables and functions */ |
| extern void USB_Istr(void); |
| 68,32 → 71,68 |
| void Dummy_Handler(void) |
| { |
| VIC0->VAR = 0xFF; |
| VIC1->VAR = 0XFF; |
| VIC0->VAR = 0xFF; |
| VIC1->VAR = 0xFF; |
| } |
| void InitInterrupt(void) |
| /* avoid the surprising reset-like behaviour by spurious interrupts */ |
| void Interrupt_Init(void) |
| { |
| VIC0->DVAR = (u32)Dummy_Handler; |
| VIC1->DVAR = (u32)Dummy_Handler; |
| } |
| /******************************************************************************* |
| * Function Name : SWI_Handler |
| * Description : This function handles SW exception. |
| * Input : None |
| * Output : None |
| * Return : None |
| *******************************************************************************/ |
| void SWI_Handler (void) |
| { |
| } |
| /******************************************************************************* |
| * Function Name : Abort_Handler |
| * Description : This function handles data abort exception. |
| * Input : None |
| * Output : None |
| * Return : None |
| *******************************************************************************/ |
| void Abort_Handler (void) |
| { |
| SerialPutString("\r\nAbort Handler"); |
| while(1) |
| { |
| // infinite loop |
| } |
| } |
| /******************************************************************************* |
| * Function Name : Undefined_Handler |
| * Description : This function handles undefined instruction exception. |
| * Input : None |
| * Output : None |
| * Return : None |
| *******************************************************************************/ |
| void Undefined_Handler (void) |
| { |
| SerialPutString("\r\nUndefined Handler"); |
| while(1) |
| { |
| // infinite loop |
| } |
| } |
| /******************************************************************************* |
| * Function Name : FIQ_Handler |
| * Description : This function handles FIQ exception. |
| * Input : None |
| * Output : None |
| * Return : None |
| *******************************************************************************/ |
| void FIQ_Handler (void) |
| { |
| } |
| } |
| /******************************************************************************* |
| * Function Name : Prefetch_Handler |
| * Description : This function handles preftetch abort exception. |
| 100,6 → 139,11 |
| *******************************************************************************/ |
| void Prefetch_Handler(void) |
| { |
| SerialPutString("\r\nPrefetch Handler"); |
| while(1) |
| { |
| // infinite loop |
| } |
| } |
| /******************************************************************************* |
| * Function Name : WDG_IRQHandler |
| 107,6 → 151,12 |
| *******************************************************************************/ |
| void WDG_IRQHandler(void) |
| { |
| /*write your handler here*/ |
| /* ... */ |
| /*write any value to VIC0 VAR*/ |
| VIC0->VAR = 0xFF; |
| } |
| /******************************************************************************* |
| * Function Name : SW_IRQHandler |
| 114,6 → 164,12 |
| *******************************************************************************/ |
| void SW_IRQHandler(void) |
| { |
| /*write your handler here*/ |
| /* ... */ |
| /*write any value to VIC0 VAR*/ |
| VIC0->VAR = 0xFF; |
| } |
| /******************************************************************************* |
| * Function Name : ARMRX_IRQHandler |
| 121,6 → 177,12 |
| *******************************************************************************/ |
| void ARMRX_IRQHandler(void) |
| { |
| /*write your handler here*/ |
| /* ... */ |
| /*write any value to VIC0 VAR*/ |
| VIC0->VAR = 0xFF; |
| } |
| /******************************************************************************* |
| * Function Name : ARMTX_IRQHandler |
| 128,6 → 190,12 |
| *******************************************************************************/ |
| void ARMTX_IRQHandler(void) |
| { |
| /*write your handler here*/ |
| /* ... */ |
| /*write any value to VIC0 VAR*/ |
| VIC0->VAR = 0xFF; |
| } |
| /******************************************************************************* |
| * Function Name : TIM0_IRQHandler |
| 135,14 → 203,24 |
| *******************************************************************************/ |
| void TIM0_IRQHandler(void) |
| { |
| /*write your handler here*/ |
| /* ... */ |
| /*write any value to VIC0 VAR*/ |
| VIC0->VAR = 0xFF; |
| } |
| /******************************************************************************* |
| * Function Name : TIM1_IRQHandler |
| * Description : This function handles the TIM1 interrupt request |
| *******************************************************************************/ |
| //void TIM1_IRQHandler(void) |
| //{ |
| //} |
| /* |
| void TIM1_IRQHandler(void) |
| { |
| // write any value to VIC0 VAR // |
| VIC0->VAR = 0xFF; |
| } |
| */ |
| /******************************************************************************* |
| * Function Name : TIM2_IRQHandler |
| * Description : This function handles the TIM2 interrupt request |
| 149,6 → 227,12 |
| *******************************************************************************/ |
| void TIM2_IRQHandler(void) |
| { |
| /*write your handler here*/ |
| /* ... */ |
| /*write any value to VIC0 VAR*/ |
| VIC0->VAR = 0xFF; |
| } |
| /******************************************************************************* |
| * Function Name : TIM3_IRQHandler |
| 156,6 → 240,12 |
| *******************************************************************************/ |
| void TIM3_IRQHandler(void) |
| { |
| /*write your handler here*/ |
| /* ... */ |
| /*write any value to VIC0 VAR*/ |
| VIC0->VAR = 0xFF; |
| } |
| /******************************************************************************* |
| * Function Name : USBHP_IRQHandler |
| 163,7 → 253,9 |
| *******************************************************************************/ |
| void USBHP_IRQHandler(void) |
| { |
| CTR_HP(); |
| CTR_HP(); |
| /*write any value to VIC0 VAR*/ |
| VIC0->VAR = 0xFF; |
| } |
| /******************************************************************************* |
| * Function Name : USBLP_IRQHandler |
| 171,7 → 263,8 |
| *******************************************************************************/ |
| void USBLP_IRQHandler(void) |
| { |
| USB_Istr(); |
| USB_Istr(); /*write any value to VIC0 VAR*/ |
| VIC0->VAR = 0xFF; |
| } |
| /******************************************************************************* |
| * Function Name : SCU_IRQHandler |
| 179,6 → 272,12 |
| *******************************************************************************/ |
| void SCU_IRQHandler(void) |
| { |
| /*write your handler here*/ |
| /* ... */ |
| /*write any value to VIC0 VAR*/ |
| VIC0->VAR = 0xFF; |
| } |
| /******************************************************************************* |
| * Function Name : ENET_IRQHandler |
| 186,6 → 285,12 |
| *******************************************************************************/ |
| void ENET_IRQHandler(void) |
| { |
| /*write your handler here*/ |
| /* ... */ |
| /*write any value to VIC0 VAR*/ |
| VIC0->VAR = 0xFF; |
| } |
| /******************************************************************************* |
| * Function Name : DMA_IRQHandler |
| 193,6 → 298,12 |
| *******************************************************************************/ |
| void DMA_IRQHandler(void) |
| { |
| /*write your handler here*/ |
| /* ... */ |
| /*write any value to VIC0 VAR*/ |
| VIC0->VAR = 0xFF; |
| } |
| /******************************************************************************* |
| * Function Name : CAN_IRQHandler |
| 200,6 → 311,12 |
| *******************************************************************************/ |
| void CAN_IRQHandler(void) |
| { |
| /*write your handler here*/ |
| /* ... */ |
| /*write any value to VIC0 VAR*/ |
| VIC0->VAR = 0xFF; |
| } |
| /******************************************************************************* |
| * Function Name : MC_IRQHandler |
| 207,6 → 324,12 |
| *******************************************************************************/ |
| void MC_IRQHandler(void) |
| { |
| /*write your handler here*/ |
| /* ... */ |
| /*write any value to VIC0 VAR*/ |
| VIC0->VAR = 0xFF; |
| } |
| /******************************************************************************* |
| * Function Name : ADC_IRQHandler |
| 214,6 → 337,12 |
| *******************************************************************************/ |
| void ADC_IRQHandler(void) |
| { |
| /*write your handler here*/ |
| /* ... */ |
| /*write any value to VIC0 VAR*/ |
| VIC0->VAR = 0xFF; |
| } |
| /******************************************************************************* |
| * Function Name : UART0_IRQHandler |
| 226,22 → 355,16 |
| * Function Name : UART1_IRQHandler |
| * Description : This function handles the UART1 interrupt request |
| *******************************************************************************/ |
| //void UART1_IRQHandler(void) __attribute__ ((interrupt ("IRQ"))); |
| /*void UART1_IRQHandler(void) |
| { |
| UART1->DR = UART1->DR; |
| UART_ClearITPendingBit(UART1, UART_IT_Receive); |
| } |
| */ |
| { |
| } */ |
| /******************************************************************************* |
| * Function Name : UART2_IRQHandler |
| * Description : This function handles the UART2 interrupt request |
| *******************************************************************************/ |
| void UART2_IRQHandler(void) |
| /*void UART2_IRQHandler(void) |
| { |
| } |
| } */ |
| /******************************************************************************* |
| * Function Name : I2C0_IRQHandler |
| * Description : This function handles the I2C0 interrupt request |
| 302,13 → 425,13 |
| * Function Name : EXTIT1_IRQHandler |
| * Description : This function handles the EXTIT1 interrupt request |
| *******************************************************************************/ |
| void EXTIT1_IRQHandler(void) |
| void EXTIT1_IRQHandler(void) |
| { |
| VIC_ITCmd(EXTIT1_ITLine, DISABLE); |
| if(WIU_GetITStatus(WIU_Line11) != RESET) |
| { |
| BeepTime = 100; |
| InitFat16(); // initialize sd-card file system. |
| Fat16_Init(); // initialize sd-card file system. |
| WIU_ClearFlag(WIU_Line1); |
| WIU_ClearITPendingBit(WIU_Line11); |
| /trunk/kml.c |
|---|
| 7,14 → 7,14 |
| // + 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. |
| // + 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, |
| // + 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 |
| 25,21 → 25,21 |
| // + 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 |
| // + 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, |
| // + 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 |
| // + * 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 |
| // + 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 |
| // + * 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" |
| 52,22 → 52,21 |
| // + 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. |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include <stdio.h> |
| #include "main.h" |
| #include "91x_lib.h" |
| #include "kml.h" |
| #include "kml_header.h" |
| #include "fat16.h" |
| //________________________________________________________________________________________________________________________________________ |
| // Module name: kml.c |
| // Module name: kml.c |
| // Compiler used: avr-gcc 3.4.5 |
| // Last Modifikation: 17.03.2008 |
| // Last Modifikation: 20.07.2008 |
| // Version: 1.02 |
| // Authors: Stephan Busker |
| // Authors: Stephan Busker |
| // Description: Source files to write gps-coordinates to a file in the kml (keyhole markup language) fileformat |
| // Copyright (C) 2007 Stephan Busker |
| //........................................................................................................................................ |
| 76,13 → 75,13 |
| // extern u8 KML_DocumentOpen(s8 *, KML_Document_t *); // opens a new kml document. A filename can be specified. |
| // extern u8 KML_DocumentClose(KML_Document_t *doc); // closes an open document |
| // extern u8 KML_PlaceMarkOpen(s8 *name, KML_Document_t *); // opens a new placemark within the specified document |
| // extern u8 KML_PlaceMarkClose( KML_Document_t *); // Closes the placemark |
| // extern u8 KML_PlaceMarkClose( KML_Document_t *); // Closes the placemark |
| // extern u8 KML_LineStringBegin(KML_Document_t *); // begins a new line within the actual placemark |
| // extern u8 KML_LineStringEnd(KML_Document_t *doc); // ends the actual linestring |
| // extern u8 KML_LineStringAddPoint(struct str_gps_nav_data, KML_Document_t *); // adds a new point (gps-coordinates) to the actual linestring |
| //........................................................................................................................................ |
| // ext. functions: |
| // |
| // ext. functions: |
| // |
| //........................................................................................................................................ |
| // |
| // URL: www.Mikro-Control.de |
| 92,11 → 91,11 |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: KML_DocumentInit(KML_Document_t *) |
| // |
| // Function: KML_DocumentInit(KML_Document_t *) |
| // |
| // Description: This function initializes the kml-document for further use. |
| // |
| // |
| // |
| // Returnvalue: '1' if document was initialized |
| //________________________________________________________________________________________________________________________________________ |
| 104,7 → 103,7 |
| { |
| doc->name[0] = 0; // name of the document |
| doc->state = DOC_CLOSED; // state of the kml-document |
| doc->file = NULL; |
| doc->file = NULL; |
| doc->place.name[0]=0; |
| doc->place.description[0]=0; |
| return(1); |
| 111,12 → 110,12 |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: KML_Document_Open(void); |
| // |
| // Function: KML_Document_Open(void); |
| // |
| // Description: This function opens a new KML- document with the specified name and creates the document header within the file. |
| // |
| // |
| // Returnvalue: '1' if the KML- file could be created. |
| // |
| // Returnvalue: '1' if the KML- file could be created. |
| //________________________________________________________________________________________________________________________________________ |
| u8 KML_DocumentOpen(s8 *name, KML_Document_t *doc) |
| 123,15 → 122,17 |
| { |
| u8 retvalue = 0; |
| KML_DocumentInit(doc); // intialize the document with resetvalues |
| doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
| if(doc == NULL) return(0); |
| KML_DocumentInit(doc); // intialize the document with resetvalues |
| doc->file = fopen_(name,'a'); // open a new file with the specified filename on the memorycard. |
| if(doc->file != NULL) // could the file be opened? |
| { |
| retvalue = 1; // the document could be created on the drive. |
| doc->state = DOC_OPENED; // change document state to opened. At next a placemark has to be opened. |
| fwrite_(KML_DOCUMENT_HEADER, sizeof(KML_DOCUMENT_HEADER)-1,1,doc->file); // write the KML- footer to the document. |
| fwrite_((void*)KML_DOCUMENT_HEADER, sizeof(KML_DOCUMENT_HEADER)-1,1,doc->file);// write the KML- footer to the document. |
| } |
| return(retvalue); |
| 138,56 → 139,61 |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: DocumentClose(KML_Document_t *doc); |
| // |
| // Description: This function closes the document specified by doc. |
| // |
| // Function: DocumentClose(KML_Document_t *doc); |
| // |
| // Returnvalue: none |
| // Description: This function closes the document specified by doc. |
| // |
| // |
| // Returnvalue: '1' if the KML- file could be closed. |
| //________________________________________________________________________________________________________________________________________ |
| u8 KML_DocumentClose(KML_Document_t *doc) |
| { |
| u8 retvalue = 0; |
| u8 retvalue = 1; |
| if(doc == NULL) return(0); |
| while(doc->state != DOC_CLOSED) // close linestring, placemark and document before closing the file on the memorycard |
| { |
| { |
| switch(doc->state) |
| { |
| case DOC_LINESTRING_OPENED: |
| KML_LineStringEnd(doc); // write terminating tag to end linestring. |
| doc->state = DOC_PLACEMARK_OPENED; |
| break; |
| break; |
| case DOC_PLACEMARK_OPENED: // write terminating tag to close placemark. |
| KML_PlaceMarkClose(doc); |
| doc->state = DOC_OPENED; |
| break; |
| case DOC_OPENED: // close the file on the memorycard |
| break; |
| case DOC_OPENED: // close the file on the memorycard |
| if(doc->file != NULL) |
| { |
| fwrite_(KML_DOCUMENT_FOOTER, sizeof(KML_DOCUMENT_FOOTER)-1,1,doc->file); // write the KML- footer to the document. |
| fclose_(doc->file); |
| fwrite_((void*)KML_DOCUMENT_FOOTER, sizeof(KML_DOCUMENT_FOOTER)-1,1,doc->file); // write the KML- footer to the document. |
| fclose_(doc->file); |
| retvalue = 1; |
| } |
| doc->state = DOC_CLOSED; |
| break; |
| doc->state = DOC_CLOSED; |
| break; |
| default: |
| doc->state = DOC_CLOSED; |
| break; |
| } |
| }; |
| } |
| return(retvalue); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u8 PlaceMarkOpen(s8 *name, File *file); |
| // |
| // Function: u8 PlaceMarkOpen(s8 *name, File *file); |
| // |
| // Description: This function adds a placemark to the document. |
| // |
| // |
| // Returnvalue: none |
| // |
| // Returnvalue: '1' if the PlaceMark could be opened |
| //________________________________________________________________________________________________________________________________________ |
| u8 KML_PlaceMarkOpen(s8 *name, KML_Document_t *doc) |
| 199,19 → 205,19 |
| { |
| doc->state = DOC_PLACEMARK_OPENED; |
| retvalue = 1; |
| fwrite_(KML_PLACEMARK_HEADER, sizeof(KML_PLACEMARK_HEADER)-1,1,doc->file); |
| fwrite_((void*)KML_PLACEMARK_HEADER, sizeof(KML_PLACEMARK_HEADER)-1,1,doc->file); |
| } |
| return(retvalue); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u8 PlaceMarkClose(KML_PlaceMark_t *place, File *file); |
| // |
| // Function: u8 PlaceMarkClose(KML_PlaceMark_t *place, File *file); |
| // |
| // Description: This function ends the placemark opened before. |
| // |
| // |
| // Returnvalue: none |
| // |
| // Returnvalue: 1' if the PlaceMark could be closed |
| //________________________________________________________________________________________________________________________________________ |
| u8 KML_PlaceMarkClose(KML_Document_t *doc) |
| 223,22 → 229,22 |
| { |
| if(doc->file != NULL) |
| { |
| doc->state =DOC_OPENED; |
| fwrite_(KML_PLACEMARK_FOOTER, sizeof(KML_PLACEMARK_FOOTER)-1,1,doc->file); |
| doc->state = DOC_OPENED; |
| fwrite_((void*)KML_PLACEMARK_FOOTER, sizeof(KML_PLACEMARK_FOOTER)-1,1,doc->file); |
| retvalue = 1; |
| } |
| } |
| return(retvalue); |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u8 LineStringBegin(KML_Document_t *doc); |
| // |
| // Function: u8 LineStringBegin(KML_Document_t *doc); |
| // |
| // Description: This function ends the placemark opened before. |
| // |
| // |
| // Returnvalue: none |
| // |
| // Returnvalue: '1' if the LineString could be started |
| //________________________________________________________________________________________________________________________________________ |
| u8 KML_LineStringBegin(KML_Document_t *doc) |
| 245,11 → 251,11 |
| { |
| u8 retvalue = 0; |
| if(doc->file != NULL) |
| { |
| doc->state = DOC_LINESTRING_OPENED; |
| fwrite_(KML_LINESTRING_HEADER, sizeof(KML_LINESTRING_HEADER)-1,1,doc->file); |
| fwrite_((void*)KML_LINESTRING_HEADER, sizeof(KML_LINESTRING_HEADER)-1,1,doc->file); |
| retvalue = 1; |
| } |
| 257,12 → 263,12 |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u8 LineStringEnd(KML_Document_t *doc) |
| // |
| // Function: u8 LineStringEnd(KML_Document_t *doc) |
| // |
| // Description: This function ends the placemark opened before. |
| // |
| // |
| // Returnvalue: none |
| // |
| // Returnvalue: '1' if the LineString could be terminated |
| //________________________________________________________________________________________________________________________________________ |
| u8 KML_LineStringEnd(KML_Document_t *doc) |
| 269,12 → 275,12 |
| { |
| u8 retvalue = 0; |
| if(doc->state == DOC_LINESTRING_OPENED); |
| if(doc->file != NULL) |
| { |
| doc->state = DOC_PLACEMARK_OPENED; |
| fwrite_(KML_LINESTRING_FOOTER, sizeof(KML_LINESTRING_FOOTER)-1,1,doc->file); |
| fwrite_((void*)KML_LINESTRING_FOOTER, sizeof(KML_LINESTRING_FOOTER)-1,1,doc->file); |
| retvalue = 1; |
| } |
| 282,27 → 288,47 |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u8 LineStringAddPoint(struct str_GPSPosition, KML_Document_t *doc) |
| // |
| // Function: u8 LineStringAddPoint(gps_data_t, KML_Document_t *doc) |
| // |
| // Description: This function adds a point to the specified document. |
| // |
| // |
| // Returnvalue: none |
| // |
| // Returnvalue: '1' if a ppoint was added could be started |
| //________________________________________________________________________________________________________________________________________ |
| u8 KML_LineStringAddPoint(struct str_gps_nav_data gps_data ,KML_Document_t *doc) |
| u8 KML_LineStringAddPoint(GPS_Pos_t * pGPS_Position ,KML_Document_t *doc) |
| { |
| u8 retvalue = 0; |
| s8 string[50]; |
| if(doc->state == DOC_LINESTRING_OPENED) |
| s32 rel_altitude = 0; |
| if(doc == NULL || pGPS_Position == NULL) return(0); |
| if((pGPS_Position->Status != INVALID) && (GPS_HomePosition.Status != INVALID)) |
| { |
| if(doc->file != NULL) |
| if(doc->state == DOC_LINESTRING_OPENED) |
| { |
| sprintf(string,"\r\n%d.%d,%d.%d,%d.0",(gps_data.Longitude/10000000),(gps_data.Longitude%10000000),(gps_data.Latitude/10000000),(gps_data.Latitude%10000000),0); |
| fputs_(doc->file,string); |
| retvalue = 1; |
| if(doc->file != NULL) |
| { |
| s32 i1, i2; |
| i1 = pGPS_Position->Longitude/10000000L; |
| i2 = abs(pGPS_Position->Longitude%10000000L); |
| sprintf(string,"\r\n%ld.%07ld,",i1, i2); |
| fputs_(string, doc->file); |
| i1 = pGPS_Position->Latitude/10000000L; |
| i2 = abs(pGPS_Position->Latitude%10000000L); |
| sprintf(string," %ld.%07ld,",i1, i2); |
| fputs_(string, doc->file); |
| // calculate relative altitude with respect to the altitude of the home position |
| rel_altitude = pGPS_Position->Altitude - GPS_HomePosition.Altitude; |
| if(rel_altitude < 0) rel_altitude = 0; // avoid negative altitudes in log |
| i1 = rel_altitude/1000L; |
| i2 = abs(rel_altitude%1000L); |
| sprintf(string," %ld.%03ld",i1, i2); |
| fputs_(string, doc->file); |
| retvalue = 1; |
| } |
| } |
| } |
| 310,48 → 336,58 |
| } |
| //________________________________________________________________________________________________________________________________________ |
| // Funtion: u8 KML_LoggGPSCoordinates(struct str_gps_nav_data, KML_Document_t *) |
| // |
| // Function: u8 KML_LoggGPSCoordinates(gps_data_t *, KML_Document_t *) |
| // |
| // Description: This function opens adds gpscoordinates to an KML-Document. The document will be opened, if not already done |
| // |
| // |
| // Returnvalue: none |
| // |
| // Returnvalue: '1' if an gps coordinate was logged |
| //________________________________________________________________________________________________________________________________________ |
| u8 KML_LoggGPSCoordinates(struct str_gps_nav_data gps_data, KML_Document_t *doc) |
| u8 KML_LoggGPSCoordinates(GPS_Pos_t* pGPS_Position, KML_Document_t *doc) |
| { |
| u8 retval = 0; |
| while(doc->state != DOC_LINESTRING_OPENED) // automatic create document with default filename on the card. |
| { |
| { |
| switch(doc->state) |
| { |
| case DOC_CLOSED: // document hasn't been opened yet therefore it will be initialized automatically |
| KML_DocumentInit(doc); // initialize the document to default values |
| if(KML_DocumentOpen("default.kml",doc)) // open the kml-document with a standardname. |
| retval = KML_DocumentOpen("default.kml",doc); // open the kml-document with a standardname. |
| if(retval) |
| { |
| doc->state = DOC_OPENED; |
| } |
| } |
| break; |
| case DOC_OPENED: // if a document has been opened before but no placemark exists: |
| if(KML_PlaceMarkOpen("MIKROKOPTER",doc)) |
| { |
| doc->state = DOC_PLACEMARK_OPENED; // add a placemark to the document. |
| retval = KML_PlaceMarkOpen("MIKROKOPTER",doc); |
| if(retval) |
| { |
| doc->state = DOC_PLACEMARK_OPENED; // add a placemark to the document. |
| } |
| break; |
| case DOC_PLACEMARK_OPENED: // add linestring to the placemark |
| if(KML_LineStringBegin(doc)) |
| retval = KML_LineStringBegin(doc); |
| if(retval) |
| { |
| doc->state = DOC_LINESTRING_OPENED; |
| } |
| break; |
| default: |
| retval = 1; |
| break; |
| } |
| }; |
| if(retval != 1) return(retval); // stop on error |
| } |
| if(doc->state == DOC_LINESTRING_OPENED) // if the document was opened add coordinates to the document. |
| { |
| KML_LineStringAddPoint(gps_data , doc); |
| retval = KML_LineStringAddPoint(pGPS_Position, doc); |
| } |
| return(retval); |
| } |
| /trunk/kml.h |
|---|
| 2,17 → 2,17 |
| #define _KML_H |
| #include "fat16.h" |
| #include "gps.h" |
| // possible state of an kml-document |
| typedef enum |
| typedef enum |
| { |
| DOC_CLOSED, |
| DOC_OPENED, |
| DOC_PLACEMARK_OPENED, |
| DOC_LINESTRING_OPENED, |
| DOC_END |
| DOC_END |
| }KML_DocState_t; |
| 30,20 → 30,21 |
| { |
| u8 name[40]; // name of the document |
| KML_DocState_t state; // state of the kml-document |
| File *file; // filepointer to the file where the data should be saved. |
| File_t *file; // filepointer to the file where the data should be saved. |
| KML_PlaceMark_t place; |
| } KML_Document_t; |
| #endif |
| extern u8 KML_LoggGPSCoordinates(struct str_gps_nav_data , KML_Document_t *); |
| extern u8 KML_DocumentInit(KML_Document_t *); // Init the new kml-document |
| extern u8 KML_DocumentOpen(s8 *, KML_Document_t *); // opens a new kml-document. a new file is created on the sd-memorycard |
| extern u8 KML_DocumentClose(KML_Document_t *doc); // closes the specified document saving remaining data to the file. |
| extern u8 KML_PlaceMarkOpen(s8 *name, KML_Document_t *doc); // opens a new placemark within the open kml-document |
| extern u8 KML_PlaceMarkClose(KML_Document_t *doc); // closes the actual placemark |
| extern u8 KML_LineStringBegin(KML_Document_t *doc); // begins a new linestring within the actual placemark |
| extern u8 KML_LineStringEnd(KML_Document_t *doc); // close the actual linestring within the actual placemark |
| extern u8 KML_LineStringAddPoint(struct str_gps_nav_data, KML_Document_t *); // adds a point from the gps (longitude, altitude, height) to the linestring |
| u8 KML_LoggGPSCoordinates(GPS_Pos_t* pGPS_Position , KML_Document_t *); // intializes the kml-document with standard filename and adds points to the file |
| u8 KML_DocumentInit(KML_Document_t *); // Init the new kml-document |
| u8 KML_DocumentOpen(s8 *, KML_Document_t *); // opens a new kml-document. a new file is created on the sd-memorycard |
| u8 KML_DocumentClose(KML_Document_t *doc); // closes the specified document saving remaining data to the file. |
| u8 KML_PlaceMarkOpen(s8 *name, KML_Document_t *doc); // opens a new placemark within the open kml-document |
| u8 KML_PlaceMarkClose(KML_Document_t *doc); // closes the actual placemark |
| u8 KML_LineStringBegin(KML_Document_t *doc); // begins a new linestring within the actual placemark |
| u8 KML_LineStringEnd(KML_Document_t *doc); // close the actual linestring within the actual placemark |
| u8 KML_LineStringAddPoint(GPS_Pos_t* pGPS_Position, KML_Document_t *); // adds a point from the gps (longitude, altitude, height) to the linestring |
| #endif //_KML_H |
| /trunk/kml_header.h |
|---|
| 10,35 → 10,14 |
| "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\r\n" |
| "<kml xmlns=\"http://earth.google.com/kml/2.2\">\r\n" |
| "<Document>\r\n" |
| " <name>Mikrokopter GPS logging</name>\r\n" |
| " <StyleMap id=\"msn_ylw-pushpin\">\r\n" |
| " <Pair>\r\n" |
| " <key>normal</key>\r\n" |
| " <styleUrl>#sn_ylw-pushpin</styleUrl>\r\n" |
| " </Pair>\r\n" |
| " <Pair>\r\n" |
| " <key>highlight</key>\r\n" |
| " <styleUrl>#sh_ylw-pushpin</styleUrl>\r\n" |
| " </Pair>\r\n" |
| " </StyleMap>\r\n" |
| " <Style id=\"sn_ylw-pushpin\">\r\n" |
| " <IconStyle>\r\n" |
| " <scale>1.1</scale>\r\n" |
| " <Icon>\r\n" |
| " <href>http://maps.google.com/mapfiles/kml/pushpin/ylw-pushpin.png</href>\r\n" |
| " </Icon>\r\n" |
| " <hotSpot x=\"20\" y=\"2\" xunits=\"pixels\" yunits=\"pixels\"/>\r\n" |
| " </IconStyle>\r\n" |
| " </Style>\r\n" |
| " <Style id=\"sh_ylw-pushpin\">\r\n" |
| " <IconStyle>\r\n" |
| " <scale>1.3</scale>\r\n" |
| " <Icon>\r\n" |
| " <href>http://maps.google.com/mapfiles/kml/pushpin/ylw-pushpin.png</href>\r\n" |
| " </Icon>\r\n" |
| " <hotSpot x=\"20\" y=\"2\" xunits=\"pixels\" yunits=\"pixels\"/>\r\n" |
| " </IconStyle>\r\n" |
| " </Style>\r\n" |
| "<name>Mikrokopter GPS logging</name>\r\n" |
| "\r\n" |
| "<Style id=\"MK_gps-style\">\r\n" |
| "<LineStyle>\r\n" |
| "<color>ff0000ff</color>\r\n" |
| "<width>2</width>\r\n" |
| "</LineStyle>\r\n" |
| "</Style>\r\n" |
| }; |
| 53,7 → 32,7 |
| const s8 KML_DOCUMENT_FOOTER[] = |
| { |
| " </Document>\r\n" |
| "</Document>\r\n" |
| "</kml>\r\n" |
| }; |
| 66,9 → 45,11 |
| //________________________________________________________________________________________________________________________________________ |
| const s8 KML_PLACEMARK_HEADER[] = |
| {" <Placemark>\r\n" |
| " <name>flight</name>\r\n" |
| " <styleUrl>#msn_ylw-pushpin</styleUrl>\r\n"}; |
| { |
| "<Placemark>\r\n" |
| "<name>Flight</name>\r\n" |
| "<styleUrl>#MK_gps-style</styleUrl>\r\n" |
| }; |
| //________________________________________________________________________________________________________________________________________ |
| // |
| 76,8 → 57,10 |
| // |
| //________________________________________________________________________________________________________________________________________ |
| const s8 KML_PLACEMARK_FOOTER[] = { |
| " </Placemark>\r\n"}; |
| const s8 KML_PLACEMARK_FOOTER[] = |
| { |
| "</Placemark>\r\n" |
| }; |
| //________________________________________________________________________________________________________________________________________ |
| 86,12 → 69,12 |
| // |
| //________________________________________________________________________________________________________________________________________ |
| const s8 KML_LINESTRING_HEADER[] = { |
| " <LineString>\r\n" |
| " <extrude>1</extrude>\r\n" |
| " <tessellate>1</tessellate>\r\n" |
| " <altitudeMode>relativeToGround</altitudeMode>\r\n" |
| " <coordinates>\r\n" |
| const s8 KML_LINESTRING_HEADER[] = |
| { |
| "<LineString>\r\n" |
| "<tessellate>1</tessellate>\r\n" |
| "<altitudeMode>relativeToGround</altitudeMode>\r\n" // also possible "absolute" |
| "<coordinates>\r\n" |
| }; |
| //________________________________________________________________________________________________________________________________________ |
| 100,8 → 83,9 |
| // |
| //________________________________________________________________________________________________________________________________________ |
| const s8 KML_LINESTRING_FOOTER[] = { |
| "\r\n </coordinates>" |
| "\r\n </LineString>\r\n" |
| const s8 KML_LINESTRING_FOOTER[] = |
| { |
| "\r\n</coordinates>" |
| "\r\n</LineString>\r\n" |
| }; |
| /trunk/led.c |
|---|
| 0,0 → 1,23 |
| #include "91x_lib.h" |
| #include "led.h" |
| void Led_Init(void) |
| { |
| GPIO_InitTypeDef GPIO_InitStructure; |
| SCU_APBPeriphClockConfig(__GPIO5, ENABLE); // Enable the GPIO5 Clock |
| /*Configure LED_GRN at pin GPIO5.6 and LED_ROT at pin GPIO5.7*/ |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1 ; |
| GPIO_Init(GPIO5, &GPIO_InitStructure); |
| LED_GRN_OFF; |
| LED_RED_OFF; |
| } |
| /trunk/led.h |
|---|
| 0,0 → 1,16 |
| #ifndef _LED_H |
| #define _LED_H |
| #define LED_GRN_ON GPIO_WriteBit(GPIO5, GPIO_Pin_6, Bit_SET) |
| #define LED_GRN_OFF GPIO_WriteBit(GPIO5, GPIO_Pin_6, Bit_RESET) |
| #define LED_GRN_TOGGLE if (GPIO_ReadBit(GPIO5, GPIO_Pin_6)) LED_GRN_OFF; else LED_GRN_ON; |
| #define LED_RED_ON GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_SET) |
| #define LED_RED_OFF GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_RESET) |
| #define LED_RED_TOGGLE if (GPIO_ReadBit(GPIO5, GPIO_Pin_7)) LED_RED_OFF; else LED_RED_ON; |
| void Led_Init(void); |
| #endif //_LED_H |
| /trunk/main.c |
|---|
| 7,14 → 7,14 |
| // + 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. |
| // + 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, |
| // + 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 |
| 25,22 → 25,22 |
| // + 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 |
| // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen: |
| // + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz |
| // + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + 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 |
| // + * 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 |
| // + 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 |
| // + * 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" |
| 53,278 → 53,379 |
| // + 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. |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //#define MCLK96MHZ |
| const unsigned long _Main_Crystal = 25000; |
| #include <stdio.h> |
| #include "91x_lib.h" |
| #include "led.h" |
| #include "uart0.h" |
| #include "uart1.h" |
| #include "uart2.h" |
| #include "GPS.h" |
| #include "i2c.h" |
| #include "timer.h" |
| #include "spi_slave.h" |
| #include "fat16.h" |
| #include "usb.h" |
| #include "sdc.h" |
| #include "kml.h" |
| #include "main.h" |
| #include "kml.h" |
| typedef enum |
| { |
| LOGFILE_IDLE, |
| LOGFILE_CLOSED, |
| LOGFILE_OPENED, |
| LOGFILE_ERROR, |
| } logfilestate_t; |
| u32 TimerCompassUpdate; |
| u32 TimerI2CReadDelay; |
| u32 TimerDebugDataDelay; |
| u32 KmlAddPointDelay; |
| u32 TimerKmlAddPointDelay; |
| u32 TimerCheckError; |
| u32 ErrorCode = 0; |
| u16 BeepTime; |
| u8 BeepTime; |
| void Init_Undef(void); |
| u8 Parameter_UserParam1; |
| u8 Parameter_UserParam2; |
| u8 Parameter_UserParam3; |
| u8 Parameter_UserParam4; |
| u8 Parameter_UserParam5; |
| u8 Parameter_UserParam6; |
| u8 Parameter_UserParam7; |
| u8 Parameter_UserParam8; |
| //++++++++++++++++++++++++++++++++++++++++++++++++++ |
| s32 FC_StickNick; |
| s32 FC_StickRoll; |
| s32 FC_StickGier; |
| s32 FC_StickGas; |
| s32 FC_Poti1; |
| s32 FC_Poti2; |
| s32 FC_Poti3; |
| s32 FC_Poti4; |
| //++++++++++++++++++++++++++++++++++++++++++++++++++ |
| s32 SenderOkay = 0; |
| s32 UBat = 0; |
| s32 UndervoltageLevel = 0; |
| s32 ActiveSetting = 1; |
| //++++++++++++++++++++++++++++++++++++++++++++++++++ |
| s32 Parameter_NaviGpsModeControl = 128; |
| s32 Parameter_NaviGpsGain = 0; |
| s32 Parameter_NaviGpsP = 90; |
| s32 Parameter_NaviGpsI = 0; |
| s32 Parameter_NaviGpsD = 90; |
| s32 Parameter_NaviGpsACC = 0; |
| s32 Parameter_NaviGpsMinSat = 3; |
| s32 Parameter_NaviStickThreshold = 8; |
| s32 Parameter_RadiusAlert = 15; |
| //++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define FLAG_MOTOR_RUN 1 |
| #define FLAG_FLY 2 |
| #define FLAG_CALIBRATE 4 |
| #define FLAG_START 8 |
| u32 MikroKopterFlags; |
| u32 ClearFlags = 1; |
| //++++++++++++++++++++++++++++++++++++++++++++++++++ |
| u8 text[20]; |
| u8 ClearMKFlags = 0; |
| u8 StopNavigation = 0; |
| Param_t Parameter; |
| FC_t FC; |
| s8 ErrorMSG[25]; |
| //---------------------------------------------------------------------------------------------------- |
| void Leds_Init(void) |
| void SCU_Config(void) |
| { |
| GPIO_InitTypeDef GPIO_InitStructure; |
| /* configure PLL and set it as master clock source */ |
| SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
| SCU_PLLCmd(DISABLE); // now disable the PLL |
| #ifdef MCLK96MHZ |
| SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
| SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
| SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
| SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
| SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
| #else |
| SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
| SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
| SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
| SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
| SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
| #endif |
| SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
| SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
| } |
| SCU_APBPeriphClockConfig(__GPIO6, ENABLE); |
| SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
| //GPIO_DeInit(GPIO5); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1 ; |
| GPIO_Init(GPIO5, &GPIO_InitStructure); |
| //SD_SWITCH |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| GPIO_Init(GPIO5, &GPIO_InitStructure); |
| } |
| // |
| void OutputStartupData(void) |
| //---------------------------------------------------------------------------------------------------- |
| void GetNaviCtrlVersion(void) |
| { |
| char tex[20]; |
| SerialPutString("\n\r--------------\n\r"); |
| sprintf(text,"NaviCtrl V%d.%d\n\r", VersionInfo.Hauptversion, VersionInfo.Nebenversion); SerialPutString(text); |
| u8 msg[25]; |
| sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
| SerialPutString(msg); |
| } |
| //---------------------------------------------------------------------------------------------------- |
| int main(void) |
| s8* GenerateGPSLogFileName(void) |
| { |
| static u8 oldCompassCalState = 0; |
| static u16 filenum = 0; // file name counter |
| static s8 filename[30]; |
| static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
| if(SystemTime.Valid) |
| { |
| // if the day has been changed |
| if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
| { |
| LastTime.Year = SystemTime.Year; |
| LastTime.Month = SystemTime.Month; |
| LastTime.Day = SystemTime.Day; |
| LastTime.Valid = 1; |
| filenum = 0; // reset file counter |
| } |
| sprintf(filename, "LOG/%04i%02i%02i/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
| filenum++; |
| return filename; |
| } |
| else return NULL; |
| } |
| static u8 kml_state = 0; |
| u8 kml_cnt = 0; |
| KML_Document_t mydocument; |
| File *file1; |
| u8 str[80]; |
| KML_DocumentInit(&mydocument); // Initialise the new kml-document for further use. |
| //---------------------------------------------------------------------------------------------------- |
| void CheckErrors(void) |
| { |
| if(!CheckSPIOkay) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"no FC communication "); |
| ErrorCode = 3; |
| StopNavigation = 1; |
| } |
| else if(!CheckI2COkay) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"no MK3Mag communication "); |
| ErrorCode = 4; |
| StopNavigation = 1; |
| } |
| else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"FC not compatible "); |
| ErrorCode = 1; |
| StopNavigation = 1; |
| } |
| else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
| { |
| sprintf(ErrorMSG,"MK3Mag not compatible "); |
| LED_RED_ON; |
| ErrorCode = 2; |
| StopNavigation = 1; |
| } |
| else if(!CheckGPSOkay) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"no GPS communication "); |
| ErrorCode = 5; |
| StopNavigation = 1; |
| } |
| else if(I2C_Heading.Heading < 0) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"bad compass value "); |
| ErrorCode = 6; |
| StopNavigation = 1; |
| } |
| else if(FC.RC_Quality < 100) |
| { |
| LED_RED_ON; |
| sprintf(ErrorMSG,"RC Signal lost "); |
| ErrorCode = 7; |
| } |
| else // no error occured |
| { |
| sprintf(ErrorMSG,"No Error "); |
| ErrorCode = 0; |
| StopNavigation = 0; |
| LED_RED_OFF; |
| } |
| CheckSPIOkay = 0; |
| CheckGPSOkay = 0; |
| CheckI2COkay = 0; |
| } |
| // SCU_MCLKSourceConfig(SCU_MCLK_OSC); |
| // SCU_PCLKDivisorConfig(SCU_PCLK_Div2); |
| // SCU_MCLKSourceConfig(SCU_MCLK_PLL); |
| SCU_MCLKSourceConfig(SCU_MCLK_OSC); |
| SCU_PLLCmd(DISABLE); // PLL aus |
| SCU_RCLKDivisorConfig(SCU_RCLK_Div1); |
| SCU_HCLKDivisorConfig(SCU_HCLK_Div1); |
| SCU_PCLKDivisorConfig(SCU_PCLK_Div2); |
| // SCU_FMICLKDivisorConfig(SCU_FMICLK_Div1); |
| // FMI_Config(FMI_READ_WAIT_STATE_3,FMI_WRITE_WAIT_STATE_0, FMI_PWD_ENABLE, FMI_LVD_ENABLE,FMI_FREQ_HIGH); |
| SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz |
| //---------------------------------------------------------------------------------------------------- |
| int main(void) |
| { |
| logfilestate_t logfilestate = LOGFILE_IDLE; |
| KML_Document_t gpslogfile; |
| s8* gpslogfilename = NULL; |
| SCU_PLLCmd(ENABLE); // PLL Enabled |
| /* Configure the system clocks */ |
| SCU_Config(); |
| SCU_MCLKSourceConfig(SCU_MCLK_PLL); // MCLK = PLL |
| KML_DocumentInit(&gpslogfile); // Initialize the new kml-document for further use. |
| VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
| VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
| VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
| SCU_AHBPeriphClockConfig(__VIC,ENABLE); |
| SCU_AHBPeriphReset(__VIC,DISABLE); |
| VIC_DeInit(); |
| InitInterrupt(); |
| Leds_Init(); |
| Debug_UART1_Init(); |
| OutputStartupData(); |
| /* init VIC (Vectored Interrupt Controller) */ |
| SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
| SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
| VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
| // initialize the interrupt handler |
| Interrupt_Init(); |
| // initialize timer 1 |
| TIMER1_Init(); |
| // initialize the LEDs (needs Timer 1) |
| Led_Init(); |
| // initialize the debug UART1 |
| UART1_Init(); |
| SerialPutString("\r\n---------------------------------------------"); |
| GPS_UART0_Init(); |
| USB_ConfigInit(); |
| SPI0_Init(); |
| // initialize UART2 to FLIGHTCTRL |
| UART2_Init(); |
| // initialize UART0 (to MKGPS or MK3MAG) |
| UART0_Init(); |
| // initialize usb |
| USB_ConfigInit(); |
| // initialize SPI0 to FC |
| SPI0_Init(); |
| // initialize i2c bus to MK3MAG (needs Timer 1) |
| I2C1_Init(); |
| // initialize the gps position controller (needs Timer 1) |
| GPS_Init(); |
| // initialize fat16 partition on sd card (needs Timer 1) |
| Fat16_Init(); |
| TIMER1_Init(); |
| I2C1_Init(); |
| I2C_Version.Hauptversion = 0xff; |
| SendI2C_Command(I2C_CMD_VERSION); |
| TimerCompassUpdate = SetDelay(5); |
| TimerKmlAddPointDelay = SetDelay(250); |
| TimerCheckError = SetDelay(3000); |
| TimerCompassUpdate = SetDelay(50); |
| while (!CheckDelay(TimerCompassUpdate)); |
| TimerCompassUpdate = SetDelay(5); |
| TimerI2CReadDelay = SetDelay(5); |
| SerialPutString("\r\n---------------------------------------------"); |
| SerialPutString("\n\r Version information:"); |
| GetNaviCtrlVersion(); |
| SPI0_GetFlightCtrlVersion(); |
| if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
| { |
| //sprintf(ErrorMSG,"\r\n %d <-> %d", FlightCtrlVersion.NaviCompatible, FC_SPI_COMPATIBLE); |
| //SerialPutString(ErrorMSG); |
| SerialPutString("\n\r Flight-Ctrl not compatible"); |
| LED_RED_ON; |
| } |
| I2C1_GetMK3MagVersion(); |
| if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
| { |
| SerialPutString("\n\r MK3Mag not compatible"); |
| LED_RED_ON; |
| } |
| KmlAddPointDelay = SetDelay(250); |
| /* |
| ReadSetting(1); |
| */ |
| SerialPutString("\r\n---------------------------------------------\r\n\r\n"); |
| for (;;) |
| { |
| if(rxd_buffer_locked) // new incomming command |
| { |
| UART1_ProcessRxData(); // process request |
| } |
| UART1_TransmitTxData(); // send answer |
| SerialPutString("\r\n---------------------------------------------"); |
| SPI0_UpdateBuffer(); |
| UART1_Transmit(); // empty txd buffer |
| // ------------------------- I2C Timing -------------------------------- |
| if(I2C_State != I2C_OFF) |
| { |
| if (CheckDelay(TimerCompassUpdate)) |
| { |
| // check for hanging I2C bus |
| if(CheckDelay(I2C1_Timeout)) |
| { // reset I2C |
| SerialPutString("\n\rCommunication-Error: MK3Mag\n\r"); |
| I2C1_Deinit(); |
| I2C1_Init(); |
| } |
| else |
| { // check for incomming compass calibration request |
| // update CalByte from spi input queue |
| fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte)); |
| // send new calstate |
| if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte) |
| { |
| I2C1_SendCommand(I2C_CMD_WRITE_CAL); |
| } |
| else // request current heading |
| { |
| I2C1_SendCommand(I2C_CMD_READ_HEADING); |
| } |
| TimerCompassUpdate = SetDelay(25); // every 25 ms |
| } |
| // ReadSetting(1); |
| SerialPutString("\r\n---------------------------------------------\r\n\r\n"); |
| InitFat16(); |
| } |
| } |
| for (;;) |
| { |
| if(NeuerDatensatzEmpfangen) |
| { |
| BearbeiteRxDaten(); |
| DatenUebertragung(); |
| // if (GPIO_ReadBit(GPIO5, GPIO_Pin_3)) SerialPutString("keine SD\n\r"); else SerialPutString("SD eingesteckt!\n\r"); |
| } |
| UpdateSPI_Buffer(); |
| SPI_CheckSlaveSelect(); |
| UART1_Transmit(); |
| // ----------- I2C Timing ------------------------- |
| if (CheckDelay(TimerCompassUpdate)) |
| { |
| if(oldCompassCalState != CompassCalState) |
| { |
| oldCompassCalState = CompassCalState; |
| TimerCompassUpdate = SetDelay(25); |
| SendI2C_Command(I2C_CMD_WRITE_CAL); |
| } |
| else |
| { |
| GPIO_ToggleBit(GPIO5, GPIO_Pin_6); |
| GPIO_ToggleBit(GPIO5, GPIO_Pin_7); |
| TimerCompassUpdate = SetDelay(25); |
| SendI2C_Command(I2C_CMD_READ_HEADING); |
| } |
| } |
| if (CheckDelay(TimerI2CReadDelay)) |
| { |
| if (I2C_ReadRequest) |
| // ---------------- Error Check Timing ---------------------------- |
| if(CheckDelay(TimerCheckError)) |
| { |
| I2C_ReadRequest= 0; |
| I2C_Direction = I2C_MODE_RECEIVER; |
| I2C_GenerateStart(I2C1, ENABLE); |
| if(!CheckSPIOkay) GPS_Navigation(); // process the GPS data even if the FC is not connected |
| CheckErrors(); |
| TimerCheckError = SetDelay(1000); |
| Request_SendFollowMe = TRUE; |
| } |
| TimerI2CReadDelay = SetDelay(1000); |
| } |
| // ---------------- KML Timing ------------------------------------ |
| if(CheckDelay(TimerKmlAddPointDelay)) |
| { |
| TimerKmlAddPointDelay = SetDelay(500); // every 500 ms |
| if (CheckDelay(TimerDebugDataDelay)) |
| { SendGPSPosAnforderung = 1; |
| DatenUebertragung(); |
| if(FC.MKFlags & MKFLAG_FLY) // model is flying |
| { |
| switch(logfilestate) |
| { |
| case LOGFILE_IDLE: |
| case LOGFILE_CLOSED: |
| // find unused logfile name |
| do |
| { // try to generate a new logfile name |
| gpslogfilename = GenerateGPSLogFileName(); |
| }while((gpslogfilename != NULL) && fexist_(gpslogfilename)); |
| // if logfilename exist |
| if(gpslogfilename != NULL) |
| { |
| // try to create the log file |
| if(KML_DocumentOpen(gpslogfilename, &gpslogfile)) |
| { |
| logfilestate = LOGFILE_OPENED; // goto next step |
| SerialPutString("\r\nOpening kml-file: "); |
| SerialPutString(gpslogfilename); |
| SerialPutString("\r\n"); |
| } |
| else |
| { |
| logfilestate = LOGFILE_ERROR; |
| SerialPutString("\r\nError opening kml-file: "); |
| SerialPutString(gpslogfilename); |
| SerialPutString("\r\n"); |
| TimerKmlAddPointDelay = SetDelay(10); // try again in open logfile in 10 mili sec |
| } |
| } |
| // else retry in next loop |
| break; |
| TimerDebugDataDelay = SetDelay(500); |
| } |
| case LOGFILE_OPENED: |
| // append new gps log data |
| if((GPSData.Status != INVALID) && (GPSData.Flags & FLAG_GPSFIXOK) && (GPSData.SatFix == SATFIX_3D)) |
| { |
| if(!KML_LoggGPSCoordinates(&(GPSData.Position), &gpslogfile)) |
| { // error logging data |
| SerialPutString("\r\nError Logging GPS data\r\n"); |
| KML_DocumentClose(&gpslogfile); |
| logfilestate = LOGFILE_ERROR; |
| } |
| } |
| break; |
| // ----------- KML Timing ------------------------- |
| if(CheckDelay(KmlAddPointDelay) && 0) |
| { |
| KmlAddPointDelay = SetDelay(500); |
| switch(kml_state) |
| { |
| case 0: |
| if((GPS_Data.Flags & GPS_FIX) && (GPS_Data.Used_Sat >= GPS_SAT_MIN)) |
| { |
| if(str_Volume.state == INITIALIZED) // has the volume and filesystem been initialized? |
| { |
| if(KML_DocumentOpen("flight01.kml",&mydocument)) // create a new kml-document on the memorycard. |
| case LOGFILE_ERROR: |
| // try to reinitialize the fat16 filesystem |
| if(0 == Fat16_Init()) |
| { |
| SerialPutString("\r\nopening kml-file\r\nadding data"); |
| kml_state = 1; |
| logfilestate = LOGFILE_IDLE; |
| TimerKmlAddPointDelay = SetDelay(10); // try again in open logfile in 10 mili sec |
| } |
| else |
| { |
| logfilestate = LOGFILE_ERROR; |
| TimerKmlAddPointDelay = SetDelay(5000); // try again in 5 sec |
| } |
| break; |
| default: |
| break; |
| } |
| } // EOF model is flying |
| else // model is not flying |
| { // close log file if opened |
| if(logfilestate == LOGFILE_OPENED) |
| { |
| if(KML_DocumentClose(&gpslogfile)) |
| { |
| SerialPutString("\r\nClosing kml-file\r\n"); |
| logfilestate = LOGFILE_CLOSED; |
| } |
| else |
| { |
| InitFat16(); |
| if(str_Volume.state != INITIALIZED) KmlAddPointDelay = SetDelay(5000); // try again in 5 sek |
| logfilestate = LOGFILE_ERROR; |
| } |
| } |
| break; // document.state will be changed to DOC_OPENED automatic. |
| case 1: // linestring opened, so datapoint (gps_coordinates) can be added to the document. |
| if(kml_cnt++ < 20) // add 10 datapoints to the document. |
| { |
| KML_LoggGPSCoordinates(GPS_Data,&mydocument); |
| } |
| else // after the datapoints have been written to the document close the document. |
| { |
| KML_DocumentClose(&mydocument); |
| SerialPutString("\r\nfile closed"); |
| kml_state = 2; |
| } |
| break; |
| default: // all data has been written to card. open new document to add new data. |
| } |
| } |
| } //EOF model is not flying |
| } |
| } |
| } |
| /trunk/main.h |
|---|
| 1,77 → 1,76 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| #include "91x_conf.h" |
| #include "91x_lib.h" |
| #include "91x_wiu.h" |
| #include "uart.h" |
| #include "ramfunc.h" |
| #include "menu.h" |
| #include <stdio.h> |
| #include <stdlib.h> |
| #include <math.h> |
| #include "printf_P.h" |
| #include "timer.h" |
| #include "spi_slave.h" |
| #include "i2c.h" |
| #include "GPS.h" |
| #include "GPSUart.h" |
| #include "sdc.h" |
| #include "ssc.h" |
| #include "fat16.h" |
| #include "usb.h" |
| #include "string.h" |
| #include "settings.h" |
| //#include "hw_config.h" |
| #define VERSION_MAJOR 0 |
| #define VERSION_MINOR 12 |
| #define VERSION_PATCH 8 |
| #define VERSION_HAUPTVERSION 0 |
| #define VERSION_NEBENVERSION 4 |
| #define VERSION_KOMPATIBEL 7 |
| #define VERSION_SERIAL_MAJOR 10 |
| #define VERSION_SERIAL_MINOR 0 |
| #define FC_SPI_COMPATIBLE 3 |
| #define MK3MAG_I2C_COMPATIBLE 2 |
| #define GPIO_ToggleBit(GPIO, Pin) if (GPIO_ReadBit(GPIO, Pin)) GPIO_WriteBit(GPIO, Pin, Bit_RESET); else GPIO_WriteBit(GPIO, Pin, Bit_SET); |
| extern u32 TimerCompassUpdate; |
| extern u16 BeepTime; |
| extern u8 ClearMKFlags; |
| void Interrupt_Init(void); |
| typedef struct |
| { |
| u8 ActiveSetting; |
| u8 User1; |
| u8 User2; |
| u8 User3; |
| u8 User4; |
| u8 User5; |
| u8 User6; |
| u8 User7; |
| u8 User8; |
| u8 NaviGpsModeControl; |
| u8 NaviGpsGain; |
| u8 NaviGpsP; |
| u8 NaviGpsI; |
| u8 NaviGpsD; |
| u8 NaviGpsACC; |
| u8 NaviGpsMinSat; |
| u8 NaviStickThreshold; |
| u8 NaviOperatingRadius; |
| u8 NaviWindCorrection; |
| u8 NaviSpeedCompensation; |
| u8 LowVoltageWarning; |
| u8 NaviAngleLimitation; |
| } __attribute__((packed)) Param_t; |
| extern u32 TimerCompassUpdate; |
| extern u32 TimerI2CReadDelay; |
| extern u8 BeepTime; |
| void InitInterrupt(void); |
| typedef struct |
| { |
| s8 StickNick; |
| s8 StickRoll; |
| s8 StickYaw; |
| s8 StickGas; |
| u8 Poti1; |
| u8 Poti2; |
| u8 Poti3; |
| u8 Poti4; |
| u8 RC_Quality; |
| u8 UBat; |
| // MK_Flags |
| #define MKFLAG_MOTOR_RUN 0x01 |
| #define MKFLAG_FLY 0x02 |
| #define MKFLAG_CALIBRATE 0x04 |
| #define MKFLAG_START 0x08 |
| #define MKFLAG_EMERGENCY_LANDING 0x10 |
| #define MKFLAG_RESERVE1 0x20 |
| #define MKFLAG_RESERVE2 0x40 |
| #define MKFLAG_RESERVE3 0x80 |
| u8 MKFlags; |
| } __attribute__((packed)) FC_t; |
| extern u8 text[20]; |
| extern u8 Parameter_UserParam1; |
| extern u8 Parameter_UserParam2; |
| extern u8 Parameter_UserParam3; |
| extern u8 Parameter_UserParam4; |
| extern u8 Parameter_UserParam5; |
| extern u8 Parameter_UserParam6; |
| extern u8 Parameter_UserParam7; |
| extern u8 Parameter_UserParam8; |
| extern s32 FC_StickNick; |
| extern s32 FC_StickRoll; |
| extern s32 FC_StickGier; |
| extern s32 FC_StickGas; |
| extern s32 FC_Poti1; |
| extern s32 FC_Poti2; |
| extern s32 FC_Poti3; |
| extern s32 FC_Poti4; |
| extern s32 SenderOkay; |
| extern s32 UBat; |
| extern s32 UndervoltageLevel; |
| extern s32 ActiveSetting; |
| //++++++++++++++++++++++++++++++++++++++++++++++++++ |
| extern s32 Parameter_NaviGpsModeControl; |
| extern s32 Parameter_NaviGpsGain; |
| extern s32 Parameter_NaviGpsP; |
| extern s32 Parameter_NaviGpsI; |
| extern s32 Parameter_NaviGpsD; |
| extern s32 Parameter_NaviGpsACC; |
| extern s32 Parameter_NaviGpsMinSat; |
| extern s32 Parameter_NaviStickThreshold; |
| extern s32 Parameter_RadiusAlert; |
| //++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define FLAG_MOTOR_RUN 1 |
| #define FLAG_FLY 2 |
| #define FLAG_CALIBRATE 4 |
| #define FLAG_START 8 |
| extern u32 MikroKopterFlags; |
| extern u32 ClearFlags; |
| //++++++++++++++++++++++++++++++++++++++++++++++++++ |
| extern Param_t Parameter; |
| extern FC_t FC; |
| extern s8 ErrorMSG[25]; |
| extern u32 ErrorCode; |
| extern u8 StopNavigation; |
| #endif // _MAIN_H |
| /trunk/menu.c |
|---|
| 7,14 → 7,14 |
| // + 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. |
| // + 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, |
| // + 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 |
| 25,21 → 25,21 |
| // + 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 |
| // + 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, |
| // + 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 |
| // + * 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 |
| // + 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 |
| // + * 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" |
| 52,17 → 52,27 |
| // + 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. |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include "91x_lib.h" |
| #include "printf_P.h" |
| #include "main.h" |
| #include "ubx.h" |
| #include "GPS.h" |
| #include "timer.h" |
| #include "i2c.h" |
| #include "spi_slave.h" |
| #include "menu.h" |
| #include "uart1.h" |
| u16 TestInt = 0; |
| #define ARRAYGROESSE 10 |
| u8 Array[ARRAYGROESSE] = {1,2,3,4,5,6,7,8,9,10}; |
| s8 DisplayBuff[80] = "Hallo Welt"; |
| s8 DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
| u8 DispPtr = 0; |
| u8 RemoteTasten = 0; |
| u8 MenuItem = 0; |
| u8 MaxMenuItem = 12; |
| u8 RemoteKeys = 0; |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| 69,45 → 79,203 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| void LcdClear(void) |
| /************************************/ |
| /* Clear LCD Buffer */ |
| /************************************/ |
| void LCD_Clear(void) |
| { |
| u8 i; |
| for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| u8 i; |
| for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
| } |
| void Menu(void) |
| { |
| static u8 MaxMenue = 1,MenuePunkt=0; |
| u8 text[20]; |
| if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); } |
| if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); } |
| if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0; |
| LCD_printfxy(17,0,"[%i]",MenuePunkt); |
| switch(MenuePunkt) |
| { |
| case 0: |
| LCD_printfxy(0,0,"++ Navi-Ctrl ++"); |
| LCD_printfxy(0,1,"SW:%d.%d",VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| // LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber()); |
| LCD_printfxy(0,3,"(c) I.B. H.B. "); |
| // if(RemoteTasten & KEY3) TestInt--; |
| // if(RemoteTasten & KEY4) TestInt++; |
| break; |
| case 1: |
| LCD_printfxy(0,0,"++ GPS-Logging ++"); |
| sprintf(text, "latitude: %u",GPS_Data.Latitude); |
| LCD_printfxy(0,1,text); |
| sprintf(text, "longitude:%u",GPS_Data.Longitude); |
| LCD_printfxy(0,2,text); |
| sprintf(text, "used sat: %d",GPS_Data.Used_Sat); |
| LCD_printfxy(0,3,text); |
| break; |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| /************************************/ |
| /* Update Menu on LCD */ |
| /************************************/ |
| // Display with 20 characters in 4 lines |
| void LCD_PrintMenu(void) |
| { |
| s32 i1,i2; |
| if(RemoteKeys & KEY1) { if(MenuItem) MenuItem--; else MenuItem = MaxMenuItem;} |
| if(RemoteKeys & KEY2) { if(MenuItem == MaxMenuItem) MenuItem = 0; else MenuItem++;} |
| if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuItem = 0; |
| LCD_Clear(); |
| if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
| // print menu item number in the upper right corner |
| if(MenuItem < 10) |
| { |
| LCD_printfxy(17,0,"[%i]",MenuItem); |
| } |
| else |
| { |
| LCD_printfxy(16,0,"[%i]",MenuItem); |
| } |
| switch(MenuItem) |
| { |
| // Version Info |
| case 0: |
| LCD_printfxy(0,0,"++ Navi-Ctrl ++"); |
| LCD_printfxy(0,1," V%d.%d%c ", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
| if(ErrorCode) LCD_printfxy(11,1," Err:%d",ErrorCode) else LCD_printfxy(11,1," "); |
| LCD_printfxy(0,2,"%s",ErrorMSG); |
| LCD_printfxy(0,3,"(c) Buss, Busker"); |
| break; |
| case 1: |
| if (GPSData.Status == INVALID) |
| { |
| LCD_printfxy(0,0,"No GPS data"); |
| LCD_printfxy(0,1,"Lon: "); |
| LCD_printfxy(0,2,"Lat: "); |
| LCD_printfxy(0,3,"Alt: "); |
| } |
| else // newdata or processed |
| { |
| switch (GPSData.SatFix) |
| { |
| case SATFIX_NONE: |
| LCD_printfxy(0,0,"Sats:%02d Fix:None", GPSData.NumOfSats); |
| break; |
| case SATFIX_2D: |
| LCD_printfxy(0,0,"Sats:%02d Fix:2D ", GPSData.NumOfSats); |
| break; |
| case SATFIX_3D: |
| LCD_printfxy(0,0,"Sats:%02d Fix:3D ", GPSData.NumOfSats); |
| break; |
| default: |
| LCD_printfxy(0,0,"Sats:%02d Fix:?? ", GPSData.NumOfSats); |
| break; |
| } |
| i1 = GPSData.Position.Longitude/10000000L; |
| i2 = abs(GPSData.Position.Longitude%10000000L); |
| LCD_printfxy(0,1,"Lon:%+3ld.%07ld deg",i1, i2); |
| i1 = GPSData.Position.Latitude/10000000L; |
| i2 = abs(GPSData.Position.Latitude%10000000L); |
| LCD_printfxy(0,2,"Lat:%+3ld.%07ld deg",i1, i2); |
| i1 = GPSData.Position.Altitude/1000L; |
| i2 = abs(GPSData.Position.Altitude%1000L); |
| LCD_printfxy(0,3,"Alt:%4ld.%03ld m",i1, i2); |
| } |
| break; |
| case 2: |
| if (GPSData.Status == INVALID) |
| { |
| LCD_printfxy(0,0,"No GPS data"); |
| LCD_printfxy(0,1,"Speed N: "); |
| LCD_printfxy(0,2,"Speed E: "); |
| LCD_printfxy(0,3,"Speed T: "); |
| } |
| else // newdata or processed |
| { |
| switch (GPSData.SatFix) |
| { |
| case SATFIX_NONE: |
| LCD_printfxy(0,0,"Sats:%02d Fix:None", GPSData.NumOfSats); |
| break; |
| case SATFIX_2D: |
| LCD_printfxy(0,0,"Sats:%02d Fix:2D ", GPSData.NumOfSats); |
| break; |
| case SATFIX_3D: |
| LCD_printfxy(0,0,"Sats:%02d Fix:3D ", GPSData.NumOfSats); |
| break; |
| default: |
| LCD_printfxy(0,0,"Sats:%02d Fix:?? ", GPSData.NumOfSats); |
| break; |
| } |
| LCD_printfxy(0,1,"Speed N: %+4ld cm/s",GPSData.Speed_North); |
| LCD_printfxy(0,2,"Speed E: %+4ld cm/s",GPSData.Speed_East); |
| LCD_printfxy(0,3,"Speed T: %+4ld cm/s",GPSData.Speed_Top); |
| } |
| break; |
| case 3: |
| LCD_printfxy(0,0,"GPS UTC Time"); |
| if (!SystemTime.Valid) |
| { |
| LCD_printfxy(0,0,"GPS UTC Time"); |
| LCD_printfxy(0,1," "); |
| LCD_printfxy(0,2," No time data! "); |
| LCD_printfxy(0,3," "); |
| } |
| else // newdata or processed |
| { |
| LCD_printfxy(0,1," "); |
| LCD_printfxy(0,2,"Date: %02i/%02i/%04i",SystemTime.Month, SystemTime.Day, SystemTime.Year); |
| LCD_printfxy(0,3,"Time: %02i:%02i:%02i.%03i", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec); |
| } |
| break; |
| case 4: // Navi Params from FC |
| LCD_printfxy(0,0,"NaviMode: %3i" , Parameter.NaviGpsModeControl); |
| LCD_printfxy(0,1,"G :%3i P :%3i ",Parameter.NaviGpsGain, Parameter.NaviGpsP); |
| LCD_printfxy(0,2,"I :%3i D :%3i ",Parameter.NaviGpsI, Parameter.NaviGpsD); |
| LCD_printfxy(0,3,"ACC:%3i SAT:%3i ",Parameter.NaviGpsACC, Parameter.NaviGpsMinSat); |
| break; |
| case 5: |
| LCD_printfxy(0,0,"Home Position"); |
| if(GPS_HomePosition.Status == INVALID) |
| { |
| LCD_printfxy(0,1," "); |
| LCD_printfxy(0,2," Is not set. "); |
| LCD_printfxy(0,3," "); |
| } |
| else |
| { |
| i1 = GPS_HomePosition.Longitude/10000000L; |
| i2 = abs(GPS_HomePosition.Longitude%10000000L); |
| LCD_printfxy(0,1,"Lon: %3ld.%07ld deg",i1, i2); |
| i1 = GPS_HomePosition.Latitude/10000000L; |
| i2 = abs(GPS_HomePosition.Latitude%10000000L); |
| LCD_printfxy(0,2,"Lat: %3ld.%07ld deg",i1, i2); |
| i1 = GPS_HomePosition.Altitude/1000L; |
| i2 = abs(GPS_HomePosition.Altitude%1000L); |
| LCD_printfxy(0,3,"Alt:%4ld.%03ld m",i1, i2); |
| } |
| break; |
| case 6: // RC stick controls from FC |
| LCD_printfxy(0,0,"RC-Sticks" ); |
| LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",FC.StickNick, FC.StickRoll); |
| LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",FC.StickGas, FC.StickYaw); |
| break; |
| case 7: // RC poti controls from FC |
| LCD_printfxy(0,0,"RC-Potis" ); |
| LCD_printfxy(0,1,"Po1:%3i Po2:%3i ",FC.Poti1, FC.Poti2); |
| LCD_printfxy(0,2,"Po3:%3i Po4:%3i ",FC.Poti3, FC.Poti4); |
| break; |
| case 8: // attitude from FC |
| LCD_printfxy(0,0,"IntNick: %5i", FromFlightCtrl.IntegralNick); |
| LCD_printfxy(0,1,"IntRoll: %5i", FromFlightCtrl.IntegralRoll); |
| LCD_printfxy(0,2,"AccNick: %5i", FromFlightCtrl.AccNick); |
| LCD_printfxy(0,3,"AccRoll: %5i", FromFlightCtrl.AccRoll); |
| break; |
| case 9: // gyros from FC |
| LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick); |
| LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll); |
| LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw); |
| break; |
| case 10: // Remote Control Level from FC |
| LCD_printfxy(0,0,"RC-Level: %3i", FC.RC_Quality); |
| LCD_printfxy(0,1,"Ubat: %3i", FC.UBat); |
| LCD_printfxy(0,2,"CompHeading: %3i", I2C_Heading.Heading); |
| LCD_printfxy(0,3,"GyroHeading: %3i", FromFlightCtrl.GyroHeading); |
| break; |
| case 11: // User Parameter |
| LCD_printfxy(0,0,"UP1:%3i UP2:%3i ",Parameter.User1,Parameter.User2); |
| LCD_printfxy(0,1,"UP3:%3i UP4:%3i ",Parameter.User3,Parameter.User4); |
| LCD_printfxy(0,2,"UP5:%3i UP6:%3i ",Parameter.User5,Parameter.User6); |
| LCD_printfxy(0,3,"UP7:%3i UP8:%3i ",Parameter.User7,Parameter.User8); |
| break; |
| case 12: // MK3MAG |
| I2C1_SendCommand(I2C_CMD_READ_MAG); |
| LCD_printfxy(0,0,"MK3MAG V%i.%i%c",MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a'+ MK3MAG_Version.Patch); |
| LCD_printfxy(0,1,"MagX: %4i ",I2C_Mag.MagX); |
| LCD_printfxy(0,2,"MagY: %4i ",I2C_Mag.MagY); |
| LCD_printfxy(0,3,"MagZ: %4i ",I2C_Mag.MagZ); |
| break; |
| default: |
| MaxMenuItem = MenuItem - 1; |
| MenuItem = 0; |
| break; |
| } |
| RemoteTasten = 0; |
| RemoteKeys = 0; |
| } |
| /trunk/menu.h |
|---|
| 1,6 → 1,17 |
| extern void Menu(void); |
| extern s8 DisplayBuff[80]; |
| extern void LcdClear(void); |
| #ifndef _MENU_H |
| #define _MENU_H |
| #define DISPLAYBUFFSIZE 80 |
| void Menu(void); |
| void LCD_PrintMenu(void); |
| void LCD_Clear(void); |
| extern s8 DisplayBuff[DISPLAYBUFFSIZE]; |
| extern u8 DispPtr; |
| extern u8 RemoteTasten; |
| extern u8 MenuItem; |
| extern u8 MaxMenuItem; |
| extern u8 RemoteKeys; |
| #endif // _MENU_H |
| /trunk/printf_P.c |
|---|
| 88,10 → 88,10 |
| #else |
| #include <varargs.h> |
| #endif |
| #include "91x_lib.h" |
| #include "menu.h" |
| #include "main.h" |
| //#define LIGHTPRINTF |
| char Putchar(char zeichen) |
| { |
| /trunk/printf_P.h |
|---|
| 3,7 → 3,7 |
| extern void _printf_P (char const *fmt0, ...); |
| void _printf_P (char const *fmt0, ...); |
| #define printf_P(format, args...) _printf_P(format , ## args) |
| /trunk/ramfunc.c |
|---|
| 55,9 → 55,9 |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //---------------------------------------------------------------------------------------------------- |
| #include "91x_lib.h" |
| #include "ramfunc.h" |
| #include "main.h" |
| __ramfunc void Execute_Bootloader(void) |
| { |
| pFunction Jump_To_Bootloader; |
| /trunk/ramfunc.h |
|---|
| 1,5 → 1,5 |
| #ifndef _RAMFUNC_H |
| #define _RAMFUNC_H |
| #define _RAMFUNC_H |
| typedef void (*pFunction)(void); |
| #define __ramfunc __attribute__ ((long_call, section (".ramfunc"))) |
| /trunk/sdc.c |
|---|
| 57,7 → 57,7 |
| #include <stdio.h> |
| #include <string.h> |
| #include "91x_lib.h" |
| #include "uart.h" |
| #include "uart1.h" |
| #include "sdc.h" |
| #include "ssc.h" |
| #include "timer.h" |
| 181,17 → 181,18 |
| return(crc); |
| } |
| u8 SDC_WaitForBusy() |
| u8 SDC_WaitForBusy(u32 timeout) |
| { |
| u8 rsp = 0; |
| u16 timeout=0; |
| u32 timestamp = 0; |
| SSC_ClearRxFifo(); |
| SSC_Enable(); // enable chipselect. |
| timestamp = SetDelay(timeout); |
| do |
| { |
| rsp = SSC_GetChar(); |
| if(timeout++>500) break; |
| if(CheckDelay(timestamp)) break; |
| }while(rsp != 0xFF); // wait while card is busy (data out low) |
| return(rsp); |
| } |
| 209,17 → 210,16 |
| u8 SDC_SendCMDR1(u8 CmdNo, u32 arg) |
| { |
| u8 r1; |
| u16 Timeout = 0; |
| u16 timeout = 0; |
| u16 a; |
| u8 cmd[6]; |
| SSC_ClearRxFifo(); // clear the rx fifo |
| SSC_Enable(); // enable chipselect. |
| SDC_WaitForBusy(); |
| SDC_WaitForBusy(500); // wait 500ms until card is busy |
| SSC_ClearRxFifo(); // clear the rx fifo |
| SSC_GetChar(); // dummy to sync |
| /* Send cmd10 (SEND_CID) */; |
| cmd[0] = 0x40|CmdNo; // set command index |
| cmd[1] = (arg & 0xFF000000)>>24; |
| cmd[2] = (arg & 0x00FF0000)>>16; |
| 231,10 → 231,11 |
| SSC_PutChar(cmd[a]); |
| } |
| SSC_ClearRxFifo(); // clear the rx fifo to discard the bytes received during the transmission of the 6 command bytes |
| do |
| { |
| r1 = SSC_GetChar(); // get byte from sd-card |
| if (Timeout++ > 500) return(r1); |
| if (timeout++ >500) break; |
| }while(r1 == 0xFF); // wait for the response byte from sd-card. |
| return(r1); |
| } |
| 242,7 → 243,7 |
| //________________________________________________________________________________________________________________________________________ |
| // Function: SDC_SendACMDR1(u8 CmdNo, u32 arg); |
| // |
| // |
| // Description: This function send a application command frame to the SD-Card in spi-mode. |
| // |
| // |
| 270,8 → 271,7 |
| SD_Result_t SDC_GetData(u8 CmdNo, u32 addr, u8 *Buffer, u32 len) |
| { |
| u8 rsp; |
| u16 timeout; |
| u16 a, Crc16; |
| u16 a, crc16; |
| SD_Result_t result = SD_ERROR_UNKNOWN; |
| // send the command |
| 290,7 → 290,6 |
| result = SD_ERROR_READ_DATA; |
| goto end; |
| } |
| // if(timeout++>500) break; |
| }while(rsp != DATA_START_TOKEN); |
| // data start token received |
| for (a = 0; a < len; a++) // read the block from the SSC |
| 298,13 → 297,12 |
| Buffer[a] = SSC_GetChar(); |
| } |
| // Read two bytes CRC16-Data checksum |
| Crc16 = SSC_GetChar(); // highbyte fisrt |
| Crc16 = (Crc16<<8)|SSC_GetChar(); // lowbyte last |
| // if(Crc16 != CRC16(Buffer, len)) result = SD_ERROR_CRC_DATA; |
| /* else */result = SD_SUCCESS; |
| crc16 = SSC_GetChar(); // highbyte fisrt |
| crc16 = (crc16<<8)|SSC_GetChar(); // lowbyte last |
| /* if(crc16 != CRC16(Buffer, len)) result = SD_ERROR_CRC_DATA; |
| else */result = SD_SUCCESS; |
| end: |
| //SSC_Disable(); // disable sdcard. |
| if(result != SD_SUCCESS) |
| { |
| sprintf(text,"Error %02X reading data from sd card (R1=%02X).\r\n", result, rsp); |
| 329,19 → 327,19 |
| u8 pn[6]; |
| u16 temp1, temp2; |
| sprintf(text, "\r\nManufacturer ID: %i\r\n", pCID[0]); |
| sprintf(text, "\r\n Manufacturer ID: %i\r\n", pCID[0]); |
| SerialPutString(text); |
| memcpy(pn, &pCID[1], 2); |
| pn[2] = '\0'; // terminate string |
| sprintf(text, "Application ID: %s\r\n",pn); |
| sprintf(text, " Application ID: %s\r\n",pn); |
| SerialPutString(text); |
| memcpy(pn, &pCID[3], 5); |
| pn[5] = '\0'; // terminate string |
| sprintf(text, "Product Name: %s\r\n",pn); |
| sprintf(text, " Product Name: %s\r\n",pn); |
| SerialPutString(text); |
| sprintf(text, "Product Rev.: %i.%i\r\n",pCID[8]>>4, pCID[8]&0xF); |
| sprintf(text, " Product Rev.: %i.%i\r\n",pCID[8]>>4, pCID[8]&0xF); |
| SerialPutString(text); |
| SerialPutString("Serial No.: "); |
| SerialPutString(" Serial No.: "); |
| for(temp1 = 0; temp1<4; temp1++) |
| { |
| sprintf(text,"%02X", pCID[9+temp1]); |
| 350,7 → 348,7 |
| SerialPutString("\r\n"); |
| temp1 = pCID[14] & 0x0F; // month |
| temp2 = ((pCID[14]>>4)|(pCID[13]<<4)) + 2000; // year |
| sprintf(text, "Manufac. Date: %i/%i\r\n\r\n",temp1, temp2); |
| sprintf(text, " Manufac. Date: %i/%i\r\n\r\n",temp1, temp2); |
| SerialPutString(text); |
| } |
| 394,7 → 392,7 |
| SD_Result_t SDC_Init(void) |
| { |
| u32 Timeout = 0; |
| u32 timeout = 0; |
| u8 text[50]; |
| u8 rsp[6]; // SD-SPI response buffer |
| SD_Result_t result = SD_ERROR_UNKNOWN; |
| 401,11 → 399,11 |
| if(SD_SWITCH) // init only if the SD-Switch is indicating a card in the slot |
| { |
| SerialPutString("\r\n SSC init..."); |
| SerialPutString("\r\n SSC init..."); |
| SSC_Init(); |
| SerialPutString("ok"); |
| SerialPutString("\r\n SDC init..."); |
| SerialPutString("\r\n SDC init..."); |
| SDCardInfo.Valid = 0; |
| /* The host shall supply power to the card so that the voltage is reached to Vdd_min within 250ms and |
| start to supply at least 74 SD clocks to the SD card with keeping cmd line to high. In case of SPI |
| 413,7 → 411,7 |
| SSC_Disable(); // set SD_CS high |
| SSC_ClearRxFifo(); // clear the rx fifo |
| for (Timeout = 0; Timeout < 15; Timeout++) // 15*8 = 120 cycles |
| for (timeout = 0; timeout < 15; timeout++) // 15*8 = 120 cycles |
| { |
| SSC_PutChar(0xFF); |
| } |
| 421,7 → 419,7 |
| // switch to idle state |
| while(SDC_SendCMDR1(CMD_GO_IDLE_STATE, 0UL) != R1_IDLE_STATE) |
| { |
| if (Timeout++ > 20) |
| if (timeout++ > 20) |
| { |
| SerialPutString("reset timeout"); |
| result = SD_ERROR_RESET; |
| 431,7 → 429,7 |
| // enable crc feature |
| /* if(SDC_SendCMDR1(CMD_CRC_ON_OFF, 1UL) != R1_IDLE_STATE) |
| { |
| sprintf(text,"Bad cmd59 R1=%02X.\r\n", rsp[0]); |
| sprintf(text,"Bad cmd59 R1=%02X.", rsp[0]); |
| SerialPutString(text); |
| result = SD_ERROR_BAD_RESPONSE; |
| goto end; |
| 442,7 → 440,7 |
| // answer to cmd58 is an R7 response (R1+ 4Byte IFCond) |
| if(rsp[0] & R1_BAD_RESPONSE) |
| { |
| sprintf(text,"Bad cmd8 R1=%02X.\r\n", rsp[0]); |
| sprintf(text,"Bad cmd8 R1=%02X.", rsp[0]); |
| SerialPutString(text); |
| result = SD_ERROR_BAD_RESPONSE; |
| goto end; |
| 457,9 → 455,9 |
| // Ver2.00 or later SD Memory Card |
| // reading the remaining bytes of the R7 response |
| SDCardInfo.Version = VER_20; |
| for(Timeout = 1; Timeout < 5; Timeout++) |
| for(timeout = 1; timeout < 5; timeout++) |
| { |
| rsp[Timeout] = SSC_GetChar(); |
| rsp[timeout] = SSC_GetChar(); |
| } |
| //check pattern |
| if(rsp[4]!= 0xAA) |
| 481,7 → 479,7 |
| // answer to cmd58 is an R3 response (R1 + 4Byte OCR) |
| if(rsp[0] & R1_BAD_RESPONSE) |
| { |
| sprintf(text,"Bad cmd58 R1 %02x.\r\n", rsp[0]); |
| sprintf(text,"Bad cmd58 R1 %02x.", rsp[0]); |
| SerialPutString(text); |
| result = SD_ERROR_BAD_RESPONSE; |
| goto end; |
| 488,39 → 486,39 |
| } |
| if(rsp[0] & R1_ILLEGAL_CMD) |
| { |
| SerialPutString("Not an SD-CARD.\r\n"); |
| SerialPutString("Not an SD-CARD."); |
| result = SD_ERROR_NO_SDCARD; |
| goto end; |
| } |
| // read 4 bytes of OCR register |
| for(Timeout = 1; Timeout < 5; Timeout++) |
| for(timeout = 1; timeout < 5; timeout++) |
| { |
| rsp[Timeout] = SSC_GetChar(); |
| rsp[timeout] = SSC_GetChar(); |
| } |
| // NavicCtrl uses 3.3 V, therefore check for bit 20 & 21 |
| if((rsp[2] & 0x30) != 0x30) |
| { |
| // supply voltage is not supported by sd-card |
| SerialPutString("Card is incompatible to 3.3V.\r\n"); |
| SerialPutString("Card is incompatible to 3.3V."); |
| result = SD_ERROR_BAD_VOLTAGE_RANGE; |
| goto end; |
| } |
| // Initialize the sd-card sending continously ACMD_SEND_OP_COND (only supported by SD cards) |
| Timeout = SetDelay(2000); // set timeout to 2000 ms (large cards tend to longer) |
| timeout = SetDelay(2000); // set timeout to 2000 ms (large cards tend to longer) |
| do |
| { |
| rsp[0] = SDC_SendACMDR1(ACMD_SEND_OP_COND, 0UL); |
| if(rsp[0] & R1_BAD_RESPONSE) |
| { |
| sprintf(text,"Bad Acmd41 R1=%02X.\r\n", rsp[0]); |
| sprintf(text,"Bad Acmd41 R1=%02X.", rsp[0]); |
| SerialPutString(text); |
| result = SD_ERROR_BAD_RESPONSE; |
| goto end; |
| } |
| if(CheckDelay(Timeout)) |
| if(CheckDelay(timeout)) |
| { |
| SerialPutString("Init timeout.\r\n"); |
| SerialPutString("Init timeout."); |
| result = SD_ERROR_INITIALIZE; |
| goto end; |
| } |
| 528,7 → 526,7 |
| if(rsp[0] != R1_NO_ERR) |
| { |
| SerialPutString("Init error.\r\n"); |
| SerialPutString("Init error."); |
| result = SD_ERROR_INITIALIZE; |
| goto end; |
| } |
| 535,13 → 533,12 |
| /* set block size to 512 bytes */ |
| if(SDC_SendCMDR1(CMD_SET_BLOCKLEN, 512UL) != R1_NO_ERR) |
| { |
| SerialPutString("Error setting block length to 512.\r\n"); |
| SerialPutString("Error setting block length to 512."); |
| result = SD_ERROR_SET_BLOCKLEN; |
| goto end; |
| } |
| //SSC_Disable(); // set SD_CS high |
| //SSC_Disable(); // set SD_CS high |
| // here is the right place to inrease the SPI boud rate to maximum |
| //SSC_Enable(); // set SD_CS high |
| 557,7 → 554,7 |
| result = SDC_GetCSD((u8 *)&SDCardInfo.CSD); |
| if(result != SD_SUCCESS) |
| { |
| SerialPutString("Error reading CSD.\r\n"); |
| SerialPutString("Error reading CSD."); |
| goto end; |
| } |
| 601,8 → 598,9 |
| c_size |= ((u32)SDCardInfo.CSD[8])<<8; //CSD[08] -> [63:56] |
| c_size |= (u32)SDCardInfo.CSD[9]; //CSD[09] -> [55:48]; |
| SDCardInfo.Capacity = (c_size + 1)* 512L * 1024L; |
| break; |
| default: //unknown CSD Version |
| break; |
| default: //unknown CSD Version |
| SDCardInfo.Capacity = 0; |
| break; |
| } |
| 621,9 → 619,8 |
| sprintf(text, "\r\n Capacity = %i MB", mb_size); |
| SerialPutString(text); |
| // SDC_PrintCID((u8 *)&SDCardInfo.CID); |
| SDC_PrintCID((u8 *)&SDCardInfo.CID); |
| SDCardInfo.Valid = 1; |
| // jump point for error condition before |
| end: |
| SSC_Disable(); |
| 630,13 → 627,11 |
| } |
| else |
| { |
| //SerialPutString("\r\nNo Card in Slot."); |
| SSC_Deinit(); |
| SDCardInfo.Valid = 0; |
| result = SD_ERROR_NOCARD; |
| SerialPutString("No Card in Slot."); |
| } |
| // if(result != SD_SUCCESS) SerialPutString("nok "); |
| return(result); |
| } |
| 652,7 → 647,7 |
| SD_Result_t SDC_Deinit(void) |
| { |
| SerialPutString("SDC deinit..."); |
| SerialPutString("\r\n SDC deinit..."); |
| SSC_Deinit(); |
| SDCardInfo.Valid = 0; |
| 659,7 → 654,7 |
| SDCardInfo.Capacity = 0; |
| SDCardInfo.Version = VER_UNKNOWN; |
| SerialPutString("ok\r\n"); |
| SerialPutString("ok"); |
| return(SD_SUCCESS); |
| } |
| 676,9 → 671,8 |
| SD_Result_t SDC_PutSector(u32 addr, const u8 *Buffer) |
| { |
| u8 rsp; |
| u16 a, crc16; |
| u16 timeout = 0; |
| u16 a, Crc16; |
| //u32 Timeout = 0; |
| SD_Result_t result = SD_ERROR_UNKNOWN; |
| addr = addr << 9; // convert sectoradress to byteadress |
| 693,7 → 687,7 |
| { |
| SSC_GetChar(); |
| } |
| Crc16 = CRC16(Buffer, 512); // calc checksum for data block |
| crc16 = CRC16(Buffer, 512); // calc checksum for data block |
| SSC_PutChar(DATA_START_TOKEN); // send data start of header to the SSC |
| for (a=0;a<512;a++) // transmit one sector (normaly 512bytes) of data to the sdcard. |
| 701,13 → 695,17 |
| SSC_PutChar(Buffer[a]); |
| } |
| // write two bytes of crc16 to the sdcard |
| SSC_PutChar((u8)(Crc16>>8)); // write high byte first |
| SSC_PutChar((u8)(0x00FF&Crc16)); // lowbyte last |
| SSC_PutChar((u8)(crc16>>8)); // write high byte first |
| SSC_PutChar((u8)(0x00FF&crc16)); // lowbyte last |
| SSC_ClearRxFifo(); |
| do // wait for data response token |
| { |
| rsp = SSC_GetChar(); |
| if(timeout++>500) break; |
| if(timeout++ > 500) |
| { |
| result = SD_ERROR_TIMEOUT; |
| goto end; |
| } |
| }while((rsp & 0x11) != 0x01 ); |
| // analyse data response token |
| switch(rsp & DATA_RESPONSE_MASK) |
| 729,19 → 727,21 |
| break; |
| } |
| // wait until the sdcard is busy. |
| rsp = SDC_WaitForBusy(); |
| // wait 2 seconds until the sdcard is busy. |
| rsp = SDC_WaitForBusy(2000); |
| if(rsp != 0xFF) |
| { |
| result = SD_ERROR_TIMEOUT; |
| goto end; |
| result = SD_ERROR_TIMEOUT; |
| goto end; |
| } |
| // check card status |
| rsp = SDC_SendCMDR1(CMD_SEND_STATUS, 0); |
| // first byte of R2 response is like R1 response |
| if(rsp != R1_NO_ERR) |
| { |
| result = SD_ERROR_BAD_RESPONSE; |
| SSC_GetChar(); |
| SSC_GetChar(); // read out 2nd byte |
| goto end; |
| } |
| // 2nd byte of r2 response |
| 753,7 → 753,6 |
| goto end; |
| } |
| end: |
| //SSC_Disable(); // disable sdcard. |
| if(result != SD_SUCCESS) |
| { |
| sprintf(text,"Error %02X writing data to sd card (R=%02X).\r\n", result, rsp); |
| 760,7 → 759,7 |
| SerialPutString(text); |
| } |
| return(result); |
| } |
| } |
| //________________________________________________________________________________________________________________________________________ |
| /trunk/sdc.h |
|---|
| 1,7 → 1,6 |
| #ifndef _SDC_H |
| #define _SDC_H |
| #include "91x_lib.h" |
| //________________________________________________________________________________________________________________________________________ |
| // |
| 26,10 → 25,10 |
| SD_ERROR_UNKNOWN |
| } SD_Result_t; |
| extern SD_Result_t SDC_Init(void); |
| extern SD_Result_t SDC_GetSector (u32 ,u8 *); |
| extern SD_Result_t SDC_PutSector (u32, const u8 *); |
| extern SD_Result_t SDC_Deinit(void); |
| SD_Result_t SDC_Init(void); |
| SD_Result_t SDC_GetSector (u32 ,u8 *); |
| SD_Result_t SDC_PutSector (u32, const u8 *); |
| SD_Result_t SDC_Deinit(void); |
| #endif // _SDC_H |
| /trunk/settings.c |
|---|
| 54,7 → 54,13 |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include <stdio.h> |
| #include <stdlib.h> |
| #include <string.h> |
| #include "91x_lib.h" |
| #include "fat16.h" |
| #include "settings.h" |
| #include "uart1.h" |
| struct str_setting_parameter CFG_Parameter[] = |
| { |
| 105,12 → 111,12 |
| } |
| //---------------------------------------------------------------------------------- |
| void ReadSetting(unsigned char number) |
| void ReadSetting(u8 number) |
| { |
| File *fp; |
| char text[32]; |
| File_t *fp; |
| u8 text[32]; |
| u8 tmp; |
| char *token; |
| u8 *token; |
| InitDefaultParameters(); |
| /trunk/spi_slave.c |
|---|
| 7,14 → 7,14 |
| // + 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. |
| // + 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, |
| // + 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 |
| 25,21 → 25,21 |
| // + 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 |
| // + 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, |
| // + 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 |
| // + * 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 |
| // + 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 |
| // + * 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" |
| 52,313 → 52,399 |
| // + 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. |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <string.h> |
| #include "91x_lib.h" |
| #include "led.h" |
| #include "GPS.h" |
| #include "uart1.h" |
| #include "spi_slave.h" |
| #include "i2c.h" |
| #include "timer.h" |
| #include "main.h" |
| #include "fifo.h" |
| struct str_FromFlightCtrl FromFlightCtrl; |
| struct str_ToFlightCtrl ToFlightCtrl; |
| struct str_ToFlightCtrl SPI_TxBuffer; |
| #define SPI_RXSYNCBYTE1 0xAA |
| #define SPI_RXSYNCBYTE2 0x83 |
| #define SPI_TXSYNCBYTE1 0x81 |
| #define SPI_TXSYNCBYTE2 0x55 |
| volatile unsigned char SPI_Buffer[sizeof(FromFlightCtrl)]; |
| volatile unsigned char SPI_BufferIndex = 0; |
| volatile unsigned char SPI_TXBufferIndex = 0; |
| typedef enum |
| { |
| SPI_SYNC1, |
| SPI_SYNC2, |
| SPI_DATA |
| } SPI_State_t; |
| s16 CompassValue; |
| //communication packets |
| volatile FromFlightCtrl_t FromFlightCtrl; |
| volatile ToFlightCtrl_t ToFlightCtrl; |
| volatile struct str_MicroMag MicroMag; |
| // tx packet buffer |
| #define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization |
| volatile u8 SPI_TxBuffer[SPI_TXBUFFER_LEN]; |
| volatile u8 SPI_TxBufferIndex = 0; |
| u8 *Ptr_TxChksum = NULL ; // pointer to checksum in TxBuffer |
| // rx packet buffer |
| #define SPI_RXBUFFER_LEN sizeof(FromFlightCtrl) |
| volatile u8 SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
| volatile u8 SPI_RxBufferIndex = 0; |
| volatile u8 SPI_RxBuffer_Request = 0; |
| #define SPI_COMMAND_INDEX 0 |
| unsigned char *Ptr_buffer_Tx = (unsigned char *) &SPI_TxBuffer; |
| //unsigned char *Ptr_buffer_Tx = (unsigned char *) &ToFlightCtrl; |
| unsigned char *Ptr_buffer_Rx = (unsigned char *) &FromFlightCtrl; |
| volatile unsigned char SPI_state = 0, SPI_TXUpdatebufferRequest = 0, SPI_RXUpdatebufferRequest = 0; |
| unsigned char SPI_CommandSequence[] = { SPI_CMD_OSD_DATA, SPI_CMD_GPS_POS, SPI_CMD_GPS_TARGET}; |
| unsigned char SPI_CommandCounter = 0; |
| s32 FC_Kalman_K = 32; |
| s32 Kalman_MaxDrift = 5 * 16; |
| s32 Kalman_MaxFusion = 64; |
| u32 CheckSPIOkay = 0; |
| //-------------------------------------------------------------- |
| void SSP0_IRQHandler(void) |
| { |
| static u8 chksum = 0; |
| u8 data; |
| GPIO_ToggleBit(GPIO5, GPIO_Pin_7); |
| SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
| while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
| { |
| if (SPI_TXBufferIndex < sizeof(ToFlightCtrl)) // still data to send ? |
| { SSP0->DR = Ptr_buffer_Tx[SPI_TXBufferIndex]; |
| SPI_TxBuffer.Chksum += Ptr_buffer_Tx[SPI_TXBufferIndex]; |
| SPI_TXBufferIndex++; |
| } |
| else |
| { |
| SPI_TXBufferIndex = 0; |
| SPI_TXUpdatebufferRequest = 1; |
| ToFlightCtrl.Chksum = 0; |
| ToFlightCtrl.BeepTime = BeepTime; |
| BeepTime = 0; |
| memcpy((unsigned char *) &SPI_TxBuffer, (unsigned char *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
| } |
| } |
| while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty)==SET) |
| { |
| u8 SPI_CommandSequence[] = { SPI_KALMAN, SPI_CMD_OSD_DATA, SPI_CMD_GPS_POS, SPI_KALMAN, SPI_CMD_GPS_TARGET}; |
| u8 SPI_CommandCounter = 0; |
| data = SSP0->DR; |
| SPI_Version_t FC_Version; |
| while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
| { |
| if (SPI_TXBufferIndex < sizeof(ToFlightCtrl)) // still data to send ? |
| { SSP0->DR = Ptr_buffer_Tx[SPI_TXBufferIndex]; |
| SPI_TxBuffer.Chksum += Ptr_buffer_Tx[SPI_TXBufferIndex]; |
| SPI_TXBufferIndex++; |
| } |
| else |
| { |
| SPI_TXBufferIndex = 0; |
| ToFlightCtrl.Chksum = 0; |
| SPI_TXUpdatebufferRequest = 1; |
| ToFlightCtrl.BeepTime = BeepTime; |
| BeepTime = 0; |
| memcpy((unsigned char *) &SPI_TxBuffer, (unsigned char *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
| } |
| u8 CompassCalStateQueue[10]; |
| fifo_t CompassCalcStateFiFo; |
| } |
| switch (SPI_state ) |
| { |
| case 0: |
| SPI_BufferIndex = 0; |
| chksum = data; |
| if (data == 0xAA && !SPI_RXUpdatebufferRequest) { SPI_state = 1; } // 1. Syncbyte ok |
| break; |
| u8 CompassCalState = 0; |
| case 1: |
| if (data == 0x83) { chksum += data; SPI_state = 2; } // 2. Syncbyte ok |
| else SPI_state = 0; |
| break; |
| case 2: |
| SPI_Buffer[SPI_BufferIndex++]= data; // get data |
| if (SPI_BufferIndex >= sizeof(SPI_Buffer)) // end of packet |
| { |
| if (data == chksum) |
| { |
| u8 i; |
| SPI_RXUpdatebufferRequest = 1; |
| for (i=0;i<sizeof(SPI_Buffer);i++) { Ptr_buffer_Rx[i] = SPI_Buffer[i]; } |
| //-------------------------------------------------------------- |
| void SSP0_IRQHandler(void) |
| { |
| static u8 rxchksum = 0; |
| u8 rxdata; |
| static SPI_State_t SPI_State = SPI_SYNC1; |
| DebugOut.Analog[13]++; |
| } |
| else { DebugOut.Analog[12]++; } |
| SPI_state = 0; |
| } |
| else chksum += data; |
| break; |
| default: SPI_state = 0; break; |
| } |
| } |
| // clear pending bit |
| SSP_ClearITPendingBit(SSP0, SSP_IT_RxTimeOut); |
| // Fill TxFIFO while its not full or end of packet is reached |
| while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
| { |
| if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
| { |
| SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
| *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
| SPI_TxBufferIndex++; // pointer to next byte |
| } |
| else // TxBuffer end is reached then reset and copy data to tx buffer |
| { |
| SPI_TxBufferIndex = 0; // reset buffer index |
| ToFlightCtrl.Chksum = 0; // initialize checksum |
| ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
| BeepTime = 0; // reset local beeptime |
| // copy contents of ToFlightCtrl->SPI_TxBuffer |
| memcpy( (u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
| } |
| } |
| // while RxFIFO not empty |
| while (SSP_GetFlagStatus(SSP0, SSP_FLAG_RxFifoNotEmpty)==SET) |
| { |
| rxdata = SSP0->DR; // catch the received byte |
| // Fill TxFIFO while its not full or end of packet is reached |
| while (SSP_GetFlagStatus(SSP0, SSP_FLAG_TxFifoNotFull) == SET) |
| { |
| if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) // still data to send ? |
| { |
| SSP0->DR = SPI_TxBuffer[SPI_TxBufferIndex]; // send a byte |
| *Ptr_TxChksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum |
| SPI_TxBufferIndex++; // pointer to next byte |
| } |
| else // end of packet is reached reset and copy data to tx buffer |
| { |
| SPI_TxBufferIndex = 0; // reset buffer index |
| ToFlightCtrl.Chksum = 0; // initialize checksum |
| ToFlightCtrl.BeepTime = BeepTime; // set beeptime |
| BeepTime = 0; // reset local beeptime |
| // copy contents of ToFlightCtrl->SPI_TxBuffer |
| memcpy((u8 *) &(SPI_TxBuffer[2]), (u8 *) &ToFlightCtrl, sizeof(ToFlightCtrl)); |
| } |
| } |
| switch (SPI_State) |
| { |
| case SPI_SYNC1: |
| SPI_RxBufferIndex = 0; // reset buffer index |
| rxchksum = rxdata; // init checksum |
| if (rxdata == SPI_RXSYNCBYTE1) |
| { // 1st syncbyte ok |
| SPI_State = SPI_SYNC2; // step to sync2 |
| } |
| break; |
| case SPI_SYNC2: |
| if (rxdata == SPI_RXSYNCBYTE2) |
| { // 2nd Syncbyte ok |
| rxchksum += rxdata; |
| SPI_State = SPI_DATA; |
| } // 2nd Syncbyte does not match |
| else |
| { |
| SPI_State = SPI_SYNC1; //jump back to sync1 |
| } |
| break; |
| case SPI_DATA: |
| SPI_RxBuffer[SPI_RxBufferIndex++]= rxdata; // copy databyte to rx buffer |
| if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) // end of packet is reached |
| { |
| if (rxdata == rxchksum) // verify checksum byte |
| { |
| // copy SPI_RxBuffer -> FromFlightCtrl |
| if(!SPI_RxBuffer_Request) // block writing to FromFlightCtrl on reading access |
| { |
| memcpy((u8 *) &FromFlightCtrl, (u8 *) SPI_RxBuffer, sizeof(FromFlightCtrl)); |
| SPI_RxBuffer_Request = 1; |
| } |
| CheckSPIOkay++; |
| DebugOut.Analog[13]++; |
| } |
| else // bad checksum byte |
| { |
| DebugOut.Analog[12]++; // increase SPI chksum error counter |
| } |
| SPI_State = SPI_SYNC1; // reset state |
| } |
| else // end of packet not reached |
| { |
| rxchksum += rxdata; // update checksum |
| } |
| break; |
| default: |
| SPI_State = SPI_SYNC1; |
| break; |
| } |
| } |
| } |
| //-------------------------------------------------------------- |
| void SPI0_Init(void) |
| { |
| GPIO_InitTypeDef GPIO_InitStructure; |
| SSP_InitTypeDef SSP_InitStructure; |
| GPIO_InitTypeDef GPIO_InitStructure; |
| SSP_InitTypeDef SSP_InitStructure; |
| SerialPutString("SPI init..."); |
| SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
| SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
| GPIO_DeInit(GPIO2); |
| //SSP0_CLK, SSP0_MOSI, SSP0_SS pins |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1 ; |
| GPIO_Init (GPIO2, &GPIO_InitStructure); |
| SerialPutString("\r\n SPI init..."); |
| // SSP0_MISO pin GPIO2.6 |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| 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_OutputAlt2 ; |
| GPIO_Init (GPIO2, &GPIO_InitStructure); |
| SSP_DeInit(SSP0); |
| SSP_StructInit(&SSP_InitStructure); |
| SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
| SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
| SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
| SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
| SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
| SSP_InitStructure.SSP_ClockRate = 0; |
| SSP_Init(SSP0, &SSP_InitStructure); |
| SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE); |
| SSP_Cmd(SSP0, ENABLE); |
| SCU_APBPeriphClockConfig(__GPIO2 ,ENABLE); |
| SCU_APBPeriphClockConfig(__SSP0 ,ENABLE); |
| ToFlightCtrl.Sync1 = 0x81; |
| ToFlightCtrl.Sync2 = 0x55; |
| VIC_Config(SSP0_ITLine, VIC_IRQ, 1); |
| VIC_ITCmd(SSP0_ITLine, ENABLE); |
| GPIO_DeInit(GPIO2); |
| //SSP0_CLK, SSP0_MOSI, SSP0_NSS pins |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_7; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS |
| GPIO_Init (GPIO2, &GPIO_InitStructure); |
| SerialPutString("ok\n\r"); |
| } |
| // SSP0_MISO pin GPIO2.6 |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| 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_OutputAlt2; //SSP0_MISO |
| GPIO_Init (GPIO2, &GPIO_InitStructure); |
| //------------------------------------------------------ |
| void SPI_CheckSlaveSelect(void) |
| { |
| SSP_DeInit(SSP0); |
| SSP_StructInit(&SSP_InitStructure); |
| SSP_InitStructure.SSP_FrameFormat = SSP_FrameFormat_Motorola; |
| SSP_InitStructure.SSP_Mode = SSP_Mode_Slave; |
| SSP_InitStructure.SSP_SlaveOutput = SSP_SlaveOutput_Enable; |
| SSP_InitStructure.SSP_CPHA = SSP_CPHA_1Edge; |
| SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low; |
| SSP_InitStructure.SSP_ClockRate = 0; |
| //if (SS_PIN) { SPI_BufferIndex = 0; } |
| DebugOut.Analog[0] = FromFlightCtrl.IntegralNick; |
| DebugOut.Analog[1] = FromFlightCtrl.IntegralRoll; |
| DebugOut.Analog[2] = (30*FromFlightCtrl.AccNick)/108; |
| DebugOut.Analog[3] = (30*FromFlightCtrl.AccRoll)/108; |
| SSP_Init(SSP0, &SSP_InitStructure); |
| /* DebugOut.Analog[2] = FromFlightCtrl.StickNick; |
| DebugOut.Analog[3] = FromFlightCtrl.Command; |
| DebugOut.Analog[4] = FromFlightCtrl.StickRoll; |
| DebugOut.Analog[5] = FromFlightCtrl.StickGier; |
| */ |
| DebugOut.Analog[25] = FromFlightCtrl.GyroCompass; |
| SSP_ITConfig(SSP0, SSP_IT_RxFifo | SSP_IT_TxFifo | SSP_IT_RxTimeOut, ENABLE); |
| fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue)); |
| SSP_Cmd(SSP0, ENABLE); |
| // initialize the syncbytes in the tx buffer |
| SPI_TxBuffer[0] = SPI_TXSYNCBYTE1; |
| SPI_TxBuffer[1] = SPI_TXSYNCBYTE2; |
| // set the pointer to the checksum byte in the tx buffer |
| Ptr_TxChksum = (u8 *) &(((ToFlightCtrl_t *) &(SPI_TxBuffer[2]))->Chksum); |
| VIC_Config(SSP0_ITLine, VIC_IRQ, 1); |
| VIC_ITCmd(SSP0_ITLine, ENABLE); |
| SerialPutString("ok"); |
| } |
| //------------------------------------------------------ |
| void UpdateSPI_Buffer(void) |
| void SPI0_UpdateBuffer(void) |
| { |
| if(CompassUpdateActiv) return; // testweise deaktiviert |
| if(SPI_RXUpdatebufferRequest) |
| { |
| VIC_ITCmd(SSP0_ITLine, DISABLE); |
| if (SPI_RxBuffer_Request) |
| { |
| // avoid sending data via SPI during the update of the ToFlightCtrl structure |
| VIC_ITCmd(SSP0_ITLine, DISABLE); // disable SPI interrupt |
| ToFlightCtrl.CompassValue = I2C_Heading.Heading; |
| ToFlightCtrl.GPS_Nick = GPS_Nick; |
| ToFlightCtrl.GPS_Roll = GPS_Roll; |
| DebugOut.Analog[26] = I2C_Heading.Heading; |
| ToFlightCtrl.CompassHeading = I2C_Heading.Heading; |
| ToFlightCtrl.GPS_Nick = GPS_Stick.Nick; |
| ToFlightCtrl.GPS_Roll = GPS_Stick.Roll; |
| ToFlightCtrl.GPS_Yaw = GPS_Stick.Yaw; |
| // cycle spi commands |
| ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| switch (ToFlightCtrl.Command) |
| { |
| case SPI_CMD_OSD_DATA: |
| ToFlightCtrl.Param.Byte[0] = OsdBar; |
| ToFlightCtrl.Param.Int[1] = OsdDistance; |
| break; |
| switch (ToFlightCtrl.Command) |
| { |
| case SPI_KALMAN: |
| ToFlightCtrl.Param.Byte[0] = (char) FC_Kalman_K; |
| ToFlightCtrl.Param.Byte[1] = (char) Kalman_MaxFusion; |
| ToFlightCtrl.Param.Byte[2] = (char) Kalman_MaxDrift; |
| break; |
| case SPI_CMD_GPS_POS: |
| ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
| ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
| break; |
| case SPI_CMD_GPS_POS: |
| ToFlightCtrl.Param.Long[0] = GPSData.Position.Longitude; |
| ToFlightCtrl.Param.Long[1] = GPSData.Position.Latitude; |
| break; |
| case SPI_CMD_GPS_TARGET: |
| ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
| ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
| break; |
| case SPI_CMD_GPS_TARGET: |
| if(GPS_pTargetPosition != NULL) |
| { |
| if(GPS_pTargetPosition->Status != INVALID) |
| { |
| ToFlightCtrl.Param.Long[0] = GPS_pTargetPosition->Longitude; |
| ToFlightCtrl.Param.Long[1] = GPS_pTargetPosition->Latitude; |
| } |
| else |
| { |
| ToFlightCtrl.Param.Long[0] = 0; |
| ToFlightCtrl.Param.Long[1] = 0; |
| } |
| } |
| else |
| { |
| ToFlightCtrl.Param.Long[0] = 0; |
| ToFlightCtrl.Param.Long[1] = 0; |
| } |
| break; |
| default: |
| break; |
| } |
| VIC_ITCmd(SSP0_ITLine, ENABLE); |
| default: |
| break; |
| } |
| VIC_ITCmd(SSP0_ITLine, ENABLE); // enable SPI interrupt |
| if (I2C_Heading.Heading <= 359) |
| { |
| } |
| else |
| { |
| if (I2C_Version.Hauptversion != 0xff) TimerCompassUpdate = SetDelay(1); |
| return; |
| } |
| SPI_TXUpdatebufferRequest = 0; |
| switch(FromFlightCtrl.Command) |
| { |
| case SPI_CMD_USER: |
| Parameter.User1 = FromFlightCtrl.Param.Byte[0]; |
| Parameter.User2 = FromFlightCtrl.Param.Byte[1]; |
| Parameter.User3 = FromFlightCtrl.Param.Byte[2]; |
| Parameter.User4 = FromFlightCtrl.Param.Byte[3]; |
| Parameter.User5 = FromFlightCtrl.Param.Byte[4]; |
| Parameter.User6 = FromFlightCtrl.Param.Byte[5]; |
| Parameter.User7 = FromFlightCtrl.Param.Byte[6]; |
| Parameter.User8 = FromFlightCtrl.Param.Byte[7]; |
| if(ClearMKFlags) |
| { |
| FC.MKFlags = 0; |
| ClearMKFlags = 0; |
| } |
| FC.MKFlags |= FromFlightCtrl.Param.Byte[8]; |
| FC.UBat = FromFlightCtrl.Param.Byte[9]; |
| Parameter.LowVoltageWarning = FromFlightCtrl.Param.Byte[10]; |
| Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[11]; |
| break; |
| //---------------- |
| #define CHK_POTI_MM(b,a,min,max) { if(a > 250) { if(a == 251) b = FC.Poti1; else if(a == 252) b = FC.Poti2; else if(a == 253) b = FC.Poti3; else if(a == 254) b = FC.Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| case SPI_CMD_PARAMETER1: |
| CHK_POTI_MM(Parameter.NaviGpsModeControl,FromFlightCtrl.Param.Byte[0],0,255); |
| CHK_POTI_MM(Parameter.NaviGpsGain,FromFlightCtrl.Param.Byte[1],0,255); |
| CHK_POTI_MM(Parameter.NaviGpsP,FromFlightCtrl.Param.Byte[2],0,255); |
| CHK_POTI_MM(Parameter.NaviGpsI,FromFlightCtrl.Param.Byte[3],0,255); |
| CHK_POTI_MM(Parameter.NaviGpsD,FromFlightCtrl.Param.Byte[4],0,255); |
| CHK_POTI_MM(Parameter.NaviGpsACC,FromFlightCtrl.Param.Byte[5],0,255); |
| Parameter.NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
| Parameter.NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
| CHK_POTI_MM(Parameter.NaviOperatingRadius,FromFlightCtrl.Param.Byte[8],10,255); |
| CHK_POTI_MM(Parameter.NaviWindCorrection,FromFlightCtrl.Param.Byte[9],0,255); |
| CHK_POTI_MM(Parameter.NaviSpeedCompensation,FromFlightCtrl.Param.Byte[10],0,255); |
| CHK_POTI_MM(Parameter.NaviAngleLimitation,FromFlightCtrl.Param.Byte[11],0,255); |
| // DebugOut.Analog[4] = Parameter.NaviRadiusAlert; |
| // DebugOut.Analog[5] = Parameter.NaviWindCorrection; |
| // DebugOut.Analog[6] = Parameter.NaviSpeedCompensation; |
| break; |
| // DebugOut.Analog[11] = FromFlightCtrl.Command; |
| switch(FromFlightCtrl.Command) |
| { |
| case SPI_CMD_USER: |
| DebugOut.Analog[7]++; |
| Parameter_UserParam1 = FromFlightCtrl.Param.Byte[0]; |
| Parameter_UserParam2 = FromFlightCtrl.Param.Byte[1]; |
| Parameter_UserParam3 = FromFlightCtrl.Param.Byte[2]; |
| Parameter_UserParam4 = FromFlightCtrl.Param.Byte[3]; |
| Parameter_UserParam5 = FromFlightCtrl.Param.Byte[4]; |
| Parameter_UserParam6 = FromFlightCtrl.Param.Byte[5]; |
| Parameter_UserParam7 = FromFlightCtrl.Param.Byte[6]; |
| Parameter_UserParam8 = FromFlightCtrl.Param.Byte[7]; |
| if(ClearFlags) {MikroKopterFlags = 0; ClearFlags = 0;}; |
| MikroKopterFlags |= (s32) FromFlightCtrl.Param.Byte[8]; |
| UBat = FromFlightCtrl.Param.Byte[9]; |
| UndervoltageLevel = FromFlightCtrl.Param.Byte[10]; |
| ActiveSetting = FromFlightCtrl.Param.Byte[11]; |
| //DebugOut.Analog[7] = MikroKopterFlags; |
| if(MikroKopterFlags & 0x004) DebugOut.Analog[8]++; |
| break; |
| case SPI_CMD_STICK: |
| FC.StickGas = FromFlightCtrl.Param.sByte[0]; |
| FC.StickYaw = FromFlightCtrl.Param.sByte[1]; |
| FC.StickRoll = FromFlightCtrl.Param.sByte[2]; |
| FC.StickNick = FromFlightCtrl.Param.sByte[3]; |
| FC.Poti1 = FromFlightCtrl.Param.Byte[4]; |
| FC.Poti2 = FromFlightCtrl.Param.Byte[5]; |
| FC.Poti3 = FromFlightCtrl.Param.Byte[6]; |
| FC.Poti4 = FromFlightCtrl.Param.Byte[7]; |
| FC.RC_Quality = FromFlightCtrl.Param.Byte[8]; |
| break; |
| case SPI_CMD_PARAMETER1: |
| Parameter_NaviGpsModeControl = FromFlightCtrl.Param.Byte[0]; |
| Parameter_NaviGpsGain = FromFlightCtrl.Param.Byte[1]; |
| Parameter_NaviGpsP = FromFlightCtrl.Param.Byte[2]; |
| Parameter_NaviGpsI = FromFlightCtrl.Param.Byte[3]; |
| Parameter_NaviGpsD = FromFlightCtrl.Param.Byte[4]; |
| Parameter_NaviGpsACC = FromFlightCtrl.Param.Byte[5]; |
| Parameter_NaviGpsMinSat = FromFlightCtrl.Param.Byte[6]; |
| Parameter_NaviStickThreshold = FromFlightCtrl.Param.Byte[7]; |
| Parameter_RadiusAlert = FromFlightCtrl.Param.Byte[8]; |
| break; |
| case SPI_CMD_STICK: |
| FC_StickGas = (s32) FromFlightCtrl.Param.sByte[0]; |
| FC_StickGier = (s32) FromFlightCtrl.Param.sByte[1]; |
| FC_StickNick = (s32) FromFlightCtrl.Param.sByte[2]; |
| FC_StickRoll = (s32) FromFlightCtrl.Param.sByte[3]; |
| FC_Poti1 = (s32) FromFlightCtrl.Param.Byte[4]; |
| FC_Poti2 = (s32) FromFlightCtrl.Param.Byte[5]; |
| FC_Poti3 = (s32) FromFlightCtrl.Param.Byte[6]; |
| FC_Poti4 = (s32) FromFlightCtrl.Param.Byte[7]; |
| SenderOkay = (s32) FromFlightCtrl.Param.Byte[8]; |
| break; |
| case SPI_CMD_MISC: |
| if(CompassCalState != FromFlightCtrl.Param.Byte[0]) |
| { // put only new CompassCalState into queue to send via I2C |
| CompassCalState = FromFlightCtrl.Param.Byte[0]; |
| fifo_put(&CompassCalcStateFiFo, CompassCalState); |
| } |
| NaviData.Altimeter = (s16) FromFlightCtrl.Param.Int[1]; |
| break; |
| case SPI_CMD_CAL_COMPASS: |
| DebugOut.Analog[9]++; |
| CompassCalState = FromFlightCtrl.Param.Byte[0]; |
| break; |
| case SPI_CMD_VERSION: |
| FC_Version.Major = FromFlightCtrl.Param.Byte[0]; |
| FC_Version.Minor = FromFlightCtrl.Param.Byte[1]; |
| FC_Version.Patch = FromFlightCtrl.Param.Byte[2]; |
| FC_Version.Compatible = FromFlightCtrl.Param.Byte[3]; |
| break; |
| default: |
| break; |
| } |
| default: |
| break; |
| } |
| // every time we got new data from the FC via SPI call the navigation routine |
| GPS_Navigation(); |
| ClearMKFlags = 1; |
| //------------ |
| I2C_WriteNickRoll.Roll = FromFlightCtrl.IntegralRoll; |
| I2C_WriteNickRoll.Nick = FromFlightCtrl.IntegralNick; |
| SPI_RxBuffer_Request = 0; |
| Navigation(); |
| DebugOut.Analog[0] = FromFlightCtrl.IntegralNick; |
| DebugOut.Analog[1] = FromFlightCtrl.IntegralRoll; |
| DebugOut.Analog[2] = (30*FromFlightCtrl.AccNick)/108; |
| DebugOut.Analog[3] = (30*FromFlightCtrl.AccRoll)/108; |
| DebugOut.Analog[25] = FromFlightCtrl.GyroHeading; |
| SPI_RXUpdatebufferRequest = 0; |
| } |
| } // EOF if(SPI_RxBuffer_Request) |
| } |
| //------------------------------------------------------ |
| void SPI0_GetFlightCtrlVersion(void) |
| { |
| u16 timeout; |
| u8 msg[20]; |
| FC_Version.Major = 0xFF; |
| FC_Version.Minor = 0xFF; |
| FC_Version.Patch = 0xFF; |
| FC_Version.Compatible = 0xFF; |
| // polling FC version info for 2 second |
| timeout = SetDelay(2000); |
| do |
| { |
| SPI0_UpdateBuffer(); |
| if (FC_Version.Major != 0xFF) break; |
| }while (!CheckDelay(timeout)); |
| // if we got it |
| if (FC_Version.Major != 0xFF) |
| { |
| sprintf(msg, "\n\r FlightCtrl V%d.%d%c", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch); |
| SerialPutString(msg); |
| sprintf(msg, " Compatible: %d", FC_Version.Compatible); |
| SerialPutString(msg); |
| } |
| else SerialPutString("\n\r No version information from FlightCtrl."); |
| } |
| /trunk/spi_slave.h |
|---|
| 1,17 → 1,23 |
| #ifndef _SPI_H |
| #define _SPI_H |
| #ifndef _SPI_SLAVE_H |
| #define _SPI_SLAVE_H |
| #define SPI_PROTOCOL_COMP 1 |
| #include "fifo.h" |
| #define SS_PIN GPIO_ReadBit(GPIO2, GPIO_Pin_7) |
| // IMPORTANT: no syncbytes in structure ! |
| #define SPI_CMD_USER 10 |
| #define SPI_CMD_STICK 11 |
| #define SPI_CMD_CAL_COMPASS 12 |
| #define SPI_CMD_PARAMETER1 13 |
| #define SPI_PROTOCOL_COMP 2 |
| struct str_FromFlightCtrl |
| #define SPI_CMD_USER 10 |
| #define SPI_CMD_STICK 11 |
| #define SPI_CMD_MISC 12 |
| #define SPI_CMD_PARAMETER1 13 |
| #define SPI_CMD_VERSION 14 |
| extern s32 FC_Kalman_K; |
| extern s32 Kalman_MaxDrift; |
| extern s32 Kalman_MaxFusion; |
| typedef struct |
| { |
| u8 Command; |
| s16 IntegralNick; |
| 18,66 → 24,65 |
| s16 IntegralRoll; |
| s16 AccNick; |
| s16 AccRoll; |
| s16 GyroCompass; |
| s16 GyroHeading; |
| s16 GyroNick; |
| s16 GyroRoll; |
| s16 GyroGier; |
| union |
| { u8 Byte[12]; |
| s8 sByte[12]; |
| s16 Int[6]; |
| s16 GyroYaw; |
| union |
| { |
| s8 sByte[12]; |
| u8 Byte[12]; |
| s16 Int[6]; |
| s32 Long[3]; |
| float Float[3]; |
| int Long[3]; |
| } Param; |
| u8 Chksum; |
| } __attribute__((packed)); |
| } __attribute__((packed)) FromFlightCtrl_t; |
| #define SPI_CMD_OSD_DATA 100 |
| #define SPI_CMD_GPS_POS 101 |
| #define SPI_CMD_GPS_TARGET 102 |
| #define SPI_KALMAN 103 |
| struct str_ToFlightCtrl |
| { |
| unsigned char Sync1, Sync2; |
| unsigned char Command; |
| s16 GPS_Nick; |
| s16 GPS_Roll; |
| s16 GPS_Gier; |
| s16 CompassValue; |
| s16 Status; |
| unsigned char BeepTime; |
| union |
| { u8 Byte[12]; |
| s16 Int[6]; |
| float Float[3]; |
| int Long[3]; |
| } Param; |
| unsigned char Chksum; |
| } __attribute__((packed)); |
| typedef struct |
| { |
| u8 Command; |
| s16 GPS_Nick; |
| s16 GPS_Roll; |
| s16 GPS_Yaw; |
| s16 CompassHeading; |
| s16 Status; |
| u16 BeepTime; |
| union |
| { |
| s8 sByte[12]; |
| u8 Byte[12]; |
| s16 Int[6]; |
| s32 Long[3]; |
| float Float[3]; |
| }Param; |
| u8 Chksum; |
| } __attribute__((packed)) ToFlightCtrl_t; |
| #define X_AXIS 1 |
| #define Y_AXIS 2 |
| #define Z_AXIS 3 |
| struct str_MicroMag |
| typedef struct |
| { |
| unsigned char ReadAxis, WaitingforMeasurement; |
| s16 Axis[3]; |
| s16 Heading; |
| } __attribute__((packed)); |
| u8 Major; |
| u8 Minor; |
| u8 Patch; |
| u8 Compatible; |
| } __attribute__((packed)) SPI_Version_t; |
| extern volatile FromFlightCtrl_t FromFlightCtrl; |
| extern volatile ToFlightCtrl_t ToFlightCtrl; |
| extern SPI_Version_t FC_Version; |
| extern fifo_t CompassCalcStateFiFo; |
| extern u32 CheckSPIOkay; |
| extern struct str_FromFlightCtrl FromFlightCtrl; |
| extern struct str_ToFlightCtrl ToFlightCtrl; |
| void SPI0_Init(void); |
| void SPI0_GetFlightCtrlVersion(void); |
| void SPI0_UpdateBuffer(void); |
| extern volatile struct str_MicroMag MicroMag; |
| extern s16 GPS_Nick, GPS_Roll, CompassValue; |
| extern void SPI0_Init(void); |
| extern void SPI_CheckSlaveSelect(void); |
| extern void UpdateSPI_Buffer(void); |
| #endif |
| #endif //_SPI_SLAVE_H |
| /trunk/ssc.c |
|---|
| 126,6 → 126,7 |
| // enable APB clock for SPI1 |
| SCU_APBPeriphClockConfig(__SSP1 ,ENABLE); |
| // configure P5.4 -> SD-CS as an output pin |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| 133,6 → 134,7 |
| GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt1; |
| GPIO_Init (GPIO5, &GPIO_InitStructure); |
| // configure P3.4 -> SCK1 and P3.6 -> MOSI1 as an output pin |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_6; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| 140,6 → 142,7 |
| GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; |
| GPIO_Init (GPIO3, &GPIO_InitStructure); |
| // configure P3.5 <- MISO1 as an input pin |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| 156,7 → 159,7 |
| // Set Baud Rate (Prescaler) |
| // bit rate is BRCLK/SSP_ClockPrescaler/(1+SSP_ClockRate)) |
| // With MSCLK = 48MHz/2 = BRCLK we get for the SPICLK = 24Mhz / 8 / (1+5) = 500 kHz |
| SSP_InitStructure.SSP_ClockRate = 14; //5 |
| SSP_InitStructure.SSP_ClockRate = 5; //5 |
| SSP_InitStructure.SSP_ClockPrescaler = 8; |
| SSP_Init(SSP1, &SSP_InitStructure); |
| SSC_Disable(); |
| /trunk/ssc.h |
|---|
| 2,7 → 2,6 |
| #define _SSC_H |
| #include "91x_lib.h" |
| //________________________________________________________________________________________________________________________________________ |
| // |
| // Functions needed for accessing the sdcard low level via SPI. |
| 11,13 → 10,13 |
| #define SD_SWITCH !(GPIO_ReadBit(GPIO5, GPIO_Pin_3)) |
| extern void SSC_Init(void); |
| extern void SSC_Deinit(void); |
| extern u8 SSC_GetChar (void); |
| extern void SSC_PutChar (u8); |
| extern void SSC_Enable(void); |
| extern void SSC_Disable(void); |
| extern void SSC_ClearRxFifo(void); |
| void SSC_Init(void); |
| void SSC_Deinit(void); |
| u8 SSC_GetChar (void); |
| void SSC_PutChar (u8); |
| void SSC_Enable(void); |
| void SSC_Disable(void); |
| void SSC_ClearRxFifo(void); |
| #endif //_SSC_H |
| /trunk/timer.c |
|---|
| 7,14 → 7,14 |
| // + 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. |
| // + 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, |
| // + 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 |
| 25,21 → 25,21 |
| // + 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 |
| // + 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, |
| // + 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 |
| // + * 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 |
| // + 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 |
| // + * 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" |
| 52,21 → 52,26 |
| // + 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. |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "91x_lib.h" |
| #include "timer.h" |
| #include "uart1.h" |
| u32 CountMilliseconds; |
| DateTime_t SystemTime; |
| //---------------------------------------------------------------------------------------------------- |
| void TIM1_IRQHandler(void) |
| { |
| TIM1->OC1R += 200; // Timerfreq is 200kHz, generate an interrupt every 1ms |
| CountMilliseconds++; |
| //if (GPIO_ReadBit(GPIO6, GPIO_Pin_3)) GPIO_WriteBit(GPIO6, GPIO_Pin_3, Bit_RESET); else GPIO_WriteBit(GPIO6, GPIO_Pin_3, Bit_SET); |
| TIM_ClearFlag(TIM1, TIM_FLAG_OC1); |
| { |
| TIM_ClearFlag(TIM1, TIM_FLAG_OC1); // clear irq pending bit |
| TIM1->OC1R += 200; // Timerfreq is 200kHz, generate an interrupt every 1ms |
| CountMilliseconds++; |
| //if (GPIO_ReadBit(GPIO6, GPIO_Pin_3)) GPIO_WriteBit(GPIO6, GPIO_Pin_3, Bit_RESET); else GPIO_WriteBit(GPIO6, GPIO_Pin_3, Bit_SET); |
| // write any value to VIC0 Vector address register |
| VIC0->VAR = 0xFF; |
| } |
| //---------------------------------------------------------------------------------------------------- |
| 74,51 → 79,59 |
| //---------------------------------------------------------------------------------------------------- |
| void TIMER1_Init(void) |
| { |
| TIM_InitTypeDef TIM_InitStructure; |
| SerialPutString("Timer init..."); |
| #define TIM1_FREQ 200000 |
| // TimerOCR set in IntHandler |
| TIM_InitTypeDef TIM_InitStructure; |
| SCU_APBPeriphClockConfig(__TIM01, ENABLE); |
| TIM_StructInit(&TIM_InitStructure); |
| TIM_InitStructure.TIM_Mode = TIM_OCM_CHANNEL_1; |
| TIM_InitStructure.TIM_OC1_Modes = TIM_TIMING; |
| TIM_InitStructure.TIM_Clock_Source = TIM_CLK_APB; |
| TIM_InitStructure.TIM_Prescaler = (SCU_GetPCLKFreqValue() * 1000) / TIM1_FREQ; // klappt nur bis 48 MHz ! |
| TIM_Init (TIM1, &TIM_InitStructure); |
| SerialPutString("Timer init..."); |
| TIM_ITConfig(TIM1, TIM_IT_OC1, ENABLE); |
| TIM_CounterCmd(TIM1, TIM_START); |
| #define TIM1_FREQ 200000 // 200kHz |
| // TimerOCR set in IntHandler |
| VIC_Config(TIM1_ITLine, VIC_IRQ, 5); |
| VIC_ITCmd(TIM1_ITLine, ENABLE); |
| SCU_APBPeriphClockConfig(__TIM01, ENABLE); |
| // DebugOut.Analog[27] = SCU_GetPCLKFreqValue()/1000; |
| TIM_StructInit(&TIM_InitStructure); |
| TIM_InitStructure.TIM_Mode = TIM_OCM_CHANNEL_1; |
| TIM_InitStructure.TIM_OC1_Modes = TIM_TIMING; |
| TIM_InitStructure.TIM_Clock_Source = TIM_CLK_APB; |
| TIM_InitStructure.TIM_Prescaler = (SCU_GetPCLKFreqValue() * 1000) / TIM1_FREQ; // is only valid up to 48 MHz ! |
| TIM_Init (TIM1, &TIM_InitStructure); |
| CountMilliseconds = 0; |
| SerialPutString("ok\n\r"); |
| TIM_ITConfig(TIM1, TIM_IT_OC1, ENABLE); |
| TIM_CounterCmd(TIM1, TIM_START); |
| VIC_Config(TIM1_ITLine, VIC_IRQ, 5); |
| VIC_ITCmd(TIM1_ITLine, ENABLE); |
| SystemTime.Year = 0; |
| SystemTime.Month = 0; |
| SystemTime.Day = 0; |
| SystemTime.Hour = 0; |
| SystemTime.Min = 0; |
| SystemTime.Sec = 0; |
| SystemTime.mSec = 0; |
| SystemTime.Valid = 0; |
| CountMilliseconds = 0; |
| SerialPutString("ok\n\r"); |
| } |
| // ----------------------------------------------------------------------- |
| u32 SetDelay (u32 t) |
| { |
| return(CountMilliseconds + t -1); |
| return(CountMilliseconds + t -1); |
| } |
| // ----------------------------------------------------------------------- |
| u8 CheckDelay(u32 t) |
| { |
| return(((t - CountMilliseconds)& 0x80000000) >> 27); |
| return(((t - CountMilliseconds)& 0x80000000) >> 27); |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms(u32 w) |
| { |
| u32 akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| static u32 akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| } |
| /trunk/timer.h |
|---|
| 1,6 → 1,20 |
| #ifndef _TIMER_H |
| #define _TIMER_H |
| #define _TIMER_H |
| typedef struct{ |
| u16 Year; |
| u8 Month; |
| u8 Day; |
| u8 Hour; |
| u8 Min; |
| u8 Sec; |
| u16 mSec; |
| u8 Valid; |
| } DateTime_t; |
| extern DateTime_t SystemTime; |
| extern u32 CountMilliseconds; |
| void TIMER1_Init(void); |
| 7,4 → 21,7 |
| u32 SetDelay (u32 t); |
| u8 CheckDelay(u32 t); |
| void Delay_ms(u32 w); |
| #endif |
| /trunk/uart0.c |
|---|
| 0,0 → 1,304 |
| /*#######################################################################################*/ |
| /* !!! 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 "uart1.h" |
| #include "ubx.h" |
| #include <stdio.h> |
| //------------------------------------------------------------------------------------ |
| // global variables |
| // UART0 MUXER |
| typedef enum |
| { |
| UART0_UNDEF, |
| UART0_MK3MAG, |
| UART0_MKGPS |
| } UART0_MuxerState_t; |
| UART0_MuxerState_t UART0_Muxer = UART0_UNDEF; |
| u16 Uart0Baudrate = BAUD_RATE; |
| u16 Uart0MK3MagBaudrate = BAUD_RATE; |
| //------------------------------------------------------------------------------------ |
| // 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"); |
| } |
| /********************************************************/ |
| /* 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 |
| } |
| /trunk/uart0.h |
|---|
| 0,0 → 1,9 |
| #ifndef __UART0_H |
| #define __UART0_H |
| void UART0_Init (void); |
| void UART0_Connect_to_MKGPS(void); |
| void UART0_Connect_to_MK3MAG(void); |
| #endif //__UART0_H |
| /trunk/uart1.c |
|---|
| 0,0 → 1,755 |
| /*#######################################################################################*/ |
| /* !!! 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 <stdio.h> |
| #include <stdarg.h> |
| #include <string.h> |
| #include "91x_lib.h" |
| #include "ramfunc.h" |
| #include "menu.h" |
| #include "printf_P.h" |
| #include "GPS.h" |
| #include "i2c.h" |
| #include "uart0.h" |
| #include "uart1.h" |
| #include "uart2.h" |
| #include "timer.h" |
| #include "usb.h" |
| #include "main.h" |
| #include "waypoints.h" |
| #include "GPS.h" |
| // slave addresses |
| #define FC_ADDRESS 1 |
| #define NC_ADDRESS 2 |
| #define MK3MAG_ADDRESS 3 |
| #define FALSE 0 |
| #define TRUE 1 |
| u8 Request_SendFollowMe = FALSE; |
| u8 Request_VerInfo = FALSE; |
| u8 Request_ExternalControl = FALSE; |
| u8 Request_Display = FALSE; |
| u8 Request_Display1 = FALSE; |
| u8 Request_DebugData = FALSE; |
| u8 Request_DebugLabel = 255; |
| u8 Request_ChannelOnly = FALSE; |
| u8 Request_NaviData = FALSE; |
| u8 Request_ErrorMessage = FALSE; |
| u8 Request_NewWaypoint = FALSE; |
| u8 DisplayLine = 0; |
| UART_TypeDef *DebugUART = UART1; |
| volatile u8 txd_buffer[TXD_BUFFER_LEN]; |
| volatile u8 rxd_buffer_locked = FALSE; |
| volatile u8 rxd_buffer[RXD_BUFFER_LEN]; |
| volatile u8 txd_complete = TRUE; |
| volatile u8 ReceivedBytes = 0; |
| volatile u8 CntCrcError = 0; |
| volatile u8 *pRxData = NULL; |
| volatile u8 RxDataLen = 0; |
| u8 text[100]; |
| u8 PcAccess = 100; |
| u8 MotorTest[4] = {0,0,0,0}; |
| u8 ConfirmFrame = 0; |
| DebugOut_t DebugOut; |
| ExternControl_t ExternControl; |
| UART_VersionInfo_t UART_VersionInfo; |
| NaviData_t NaviData; |
| Waypoint_t FollowMe; |
| u32 DebugData_Timer; |
| u32 DebugData_Interval = 1000; // in 1ms |
| u32 NaviData_Timer; |
| u32 NaviData_Interval = 1000; // in 1ms |
| static u16 ptr_txd_buffer = 0; |
| const u8 ANALOG_LABEL[32][16] = |
| { |
| //1234567890123456 |
| "AngleNick ", //0 |
| "AngleRoll ", |
| "AccNick ", |
| "AccRoll ", |
| " ", |
| " ", //5 |
| " ", |
| " ", |
| " ", |
| " ", |
| " ", //10 |
| "GPS Data ", |
| "SPI Error ", |
| "SPI Okay ", |
| "I2C Error ", |
| "I2C Okay ", //15 |
| " ",// "FC_Kalman_K ", |
| "ACC_Speed_N ", |
| "ACC_Speed_E ", |
| " ",// "GPS ACC ", |
| " ",// "MAXDrift ", //20 |
| "N_Speed ", |
| "E_Speed ", |
| " ",// "KalmDist_N ", |
| " ",// "KalmDist_E ", |
| "GyroHeading ",//25 |
| "CompassHeading ", |
| "Distance N ", |
| "Distance E ", |
| "GPS_Nick ", |
| "GPS_Roll ", //30 |
| "Used_Sats " |
| }; |
| /********************************************************/ |
| /* Initialization the UART1 */ |
| /********************************************************/ |
| void UART1_Init (void) |
| { |
| GPIO_InitTypeDef GPIO_InitStructure; |
| UART_InitTypeDef UART_InitStructure; |
| SCU_APBPeriphClockConfig(__UART1, ENABLE); // Enable the UART1 Clock |
| SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
| /*Configure UART1_Rx pin GPIO3.2*/ |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART1_RxD |
| GPIO_Init(GPIO3, &GPIO_InitStructure); |
| /*Configure UART1_Tx pin GPIO3.3*/ |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; // UART1_TX |
| GPIO_Init(GPIO3, &GPIO_InitStructure); |
| /* UART1 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 = BAUD_RATE; |
| 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(UART1); // reset uart 1 to default |
| UART_Init(UART1, &UART_InitStructure); // initialize uart 1 |
| // enable uart 1 interrupts selective |
| UART_ITConfig(UART1, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
| UART_Cmd(UART1, ENABLE); // enable uart 1 |
| // configure the uart 1 interupt line as an IRQ with priority 4 (0 is highest) |
| VIC_Config(UART1_ITLine, VIC_IRQ, 4); |
| // enable the uart 1 IRQ |
| VIC_ITCmd(UART1_ITLine, ENABLE); |
| // initialize the debug timer |
| DebugData_Timer = SetDelay(DebugData_Interval); |
| NaviData_Timer = SetDelay(NaviData_Interval+500); |
| // unlock rxd_buffer |
| rxd_buffer_locked = FALSE; |
| pRxData = NULL; |
| RxDataLen = 0; |
| // no bytes to send |
| txd_complete = TRUE; |
| // Fill Version Info Structure |
| UART_VersionInfo.SWMajor = VERSION_MAJOR; |
| UART_VersionInfo.SWMinor = VERSION_MINOR; |
| UART_VersionInfo.SWPatch = VERSION_PATCH; |
| UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| SerialPutString("\r\nUART1 init...ok"); |
| } |
| /****************************************************************/ |
| /* USART1 receiver ISR */ |
| /****************************************************************/ |
| void UART1_IRQHandler(void) |
| { |
| static u16 crc; |
| static u8 ptr_rxd_buffer = 0; |
| static u8 crc1, crc2; |
| static u8 abortState = 0; |
| u8 c; |
| if((UART_GetITStatus(UART1, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART1, UART_IT_ReceiveTimeOut) != RESET) ) |
| { |
| // clear the pending bits |
| UART_ClearITPendingBit(UART1, UART_IT_Receive); |
| UART_ClearITPendingBit(UART1, UART_IT_ReceiveTimeOut); |
| // if debug UART is not UART1 |
| if (DebugUART != UART1) |
| { // forward received data to the debug UART tx buffer |
| while(UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) |
| { |
| // wait for space in the tx buffer of the DebugUART |
| while(UART_GetFlagStatus(DebugUART, UART_FLAG_TxFIFOFull) == SET) {}; |
| // move the byte from the rx buffer of UART1 to the tx buffer of DebugUART |
| c = UART_ReceiveData(UART1); |
| // check for abort condition (ESC ESC 0x55 0xAA 0x00) |
| switch (abortState) |
| { |
| case 0: if (c == 27) abortState++; |
| break; |
| case 1: if (c == 27) abortState++; else abortState = 0; |
| break; |
| case 2: if (c == 0x55) abortState++; else abortState = 0; |
| break; |
| case 3: if (c == 0xAA) abortState++; else abortState = 0; |
| break; |
| case 4: if (c == 0x00) |
| { |
| DebugUART = UART1; |
| UART0_Connect_to_MKGPS(); |
| } |
| abortState = 0; |
| break; |
| } |
| if (DebugUART != UART1) UART_SendData(DebugUART, c); |
| } |
| } |
| else // DebugUART == UART1 (normal operation) |
| { |
| while ((UART_GetFlagStatus(UART1, UART_FLAG_RxFIFOEmpty) != SET) && (!rxd_buffer_locked)) |
| { // some byes in the fifo and rxd buffer not locked |
| // get byte from fifo |
| c = UART_ReceiveData(UART1); |
| if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
| crc = c; // init crc |
| } |
| #if 0 |
| else if (ptr_rxd_buffer == 1) // handle address |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } |
| #endif |
| else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // rxd buffer not full |
| { |
| if (c != '\r') // no termination character received |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } |
| else // termination character received |
| { |
| // the last 2 bytes are no subject for checksum calculation |
| // they are the checksum itself |
| crc -= rxd_buffer[ptr_rxd_buffer-2]; |
| crc -= rxd_buffer[ptr_rxd_buffer-1]; |
| // calculate checksum from transmitted data |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| // compare checksum to transmitted checksum bytes |
| if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
| { // checksum valid |
| rxd_buffer_locked = TRUE; // lock the rxd buffer |
| ReceivedBytes = ptr_rxd_buffer + 1; // store number of received bytes |
| rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
| // if 2nd byte is an 'R' start bootloader |
| if(rxd_buffer[2] == 'R') |
| { |
| PowerOff(); |
| VIC_DeInit(); |
| Execute_Bootloader(); // Reset-Commando - Bootloader starten |
| } |
| } // eof checksum valid |
| else |
| { // checksum invalid |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } // eof checksum invalid |
| ptr_rxd_buffer = 0; // reset rxd buffer pointer |
| } // eof termination character received |
| } // rxd buffer not full |
| else // rxd buffer overrun |
| { |
| ptr_rxd_buffer = 0; // reset rxd buffer pointer |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } // eof rxd buffer overrrun |
| } // some byes in the fifo and rxd buffer not locked |
| } // eof DebugUart = UART1 |
| } |
| } |
| /**************************************************************/ |
| /* Transmit tx buffer via debug uart */ |
| /**************************************************************/ |
| void UART1_Transmit(void) |
| { |
| u8 tmp_tx; |
| // if something has to be send and the txd fifo is not full |
| if((!txd_complete) && (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == RESET)) |
| { |
| tmp_tx = txd_buffer[ptr_txd_buffer]; // read byte from txd buffer |
| // if terminating character or end of txd buffer reached |
| if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
| { |
| ptr_txd_buffer = 0; // reset txd buffer pointer |
| txd_complete = TRUE;// set complete flag |
| } |
| UART_SendData(UART1, tmp_tx); // put character to txd fifo |
| // set pointer to next byte |
| ptr_txd_buffer++; |
| } |
| } |
| /**************************************************************/ |
| /* Add CRC and initiate transmission via debug uart */ |
| /**************************************************************/ |
| void AddCRC(u16 datalen) |
| { |
| u16 tmpCRC = 0, i; |
| for(i = 0; i < datalen; i++) |
| { |
| tmpCRC += txd_buffer[i]; |
| } |
| tmpCRC %= 4096; |
| txd_buffer[i++] = '=' + tmpCRC / 64; |
| txd_buffer[i++] = '=' + tmpCRC % 64; |
| txd_buffer[i++] = '\r'; |
| ptr_txd_buffer = 0; |
| txd_complete = FALSE; |
| UART_SendData(UART1,txd_buffer[ptr_txd_buffer++]); // send first byte, to be continued in the txd irq |
| } |
| /**************************************************************/ |
| /* Code output data */ |
| /**************************************************************/ |
| void SendOutData(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_buffer[pt++] = '#'; // Start character |
| txd_buffer[pt++] = 'a' + Address; // Address (a=0; b=1,...) |
| txd_buffer[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_buffer[pt++] = '=' + (a >> 2); |
| txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| txd_buffer[pt++] = '=' + ( c & 0x3f); |
| } |
| va_end(ap); |
| AddCRC(pt); // add checksum after data block and initates the transmission |
| } |
| /**************************************************************/ |
| /* Decode data */ |
| /**************************************************************/ |
| void Decode64(void) |
| { |
| u8 a,b,c,d; |
| u8 x,y,z; |
| u8 ptrIn = 3; // start with first data byte in rx buffer |
| u8 ptrOut = 3; |
| u8 len = ReceivedBytes - 6; // must be a multiple of 4 (3 bytes at begin and 3 bytes at end are no payload ) |
| while(len) |
| { |
| a = rxd_buffer[ptrIn++] - '='; |
| b = rxd_buffer[ptrIn++] - '='; |
| c = rxd_buffer[ptrIn++] - '='; |
| d = rxd_buffer[ptrIn++] - '='; |
| //if(ptrIn > ReceivedBytes - 3) break; |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) rxd_buffer[ptrOut++] = x; else break; |
| if(len--) rxd_buffer[ptrOut++] = y; else break; |
| if(len--) rxd_buffer[ptrOut++] = z; else break; |
| } |
| pRxData = &rxd_buffer[3]; |
| RxDataLen = ptrOut - 3; |
| } |
| /**************************************************************/ |
| /* Process incomming data from debug uart */ |
| /**************************************************************/ |
| void UART1_ProcessRxData(void) |
| { |
| // if data in the rxd buffer are not locked immediately return |
| if((!rxd_buffer_locked) || (DebugUART != UART1) ) return; |
| Waypoint_t * pWaypoint = NULL; |
| PcAccess = 255; |
| Decode64(); // decode data block in rxd buffer |
| switch(rxd_buffer[1] - 'a') // check for Slave Address |
| { |
| case NC_ADDRESS: // own Slave Address |
| switch(rxd_buffer[2]) |
| { |
| case 'e': // request for the text of the error status |
| Request_ErrorMessage = TRUE; |
| break; |
| case 'o': // request for navigation information |
| NaviData_Interval = (u32) pRxData[0] * 10; |
| if(NaviData_Interval > 0) Request_NaviData = TRUE; |
| break; |
| case 's':// new target position |
| pWaypoint = (Waypoint_t*)&pRxData[0]; |
| BeepTime = 300; |
| if(pWaypoint->Position.Status == NEWDATA) |
| { |
| WPList_Clear(); // empty WPList |
| WPList_Append(pWaypoint); |
| GPS_pWaypoint = WPList_Begin(); |
| } |
| break; |
| case 'u': // redirect debug uart |
| switch(pRxData[0]) |
| { |
| case UART_FLIGHTCTRL: |
| UART2_Init(); // initialize UART2 to FC pins |
| DebugUART = UART2; |
| break; |
| case UART_MK3MAG: |
| if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
| UART0_Connect_to_MK3MAG(); // mux UART0 to MK3MAG pins |
| GPSData.Status = INVALID; |
| DebugUART = UART0; |
| break; |
| case UART_MKGPS: |
| if(FC.MKFlags & MKFLAG_MOTOR_RUN) break; // not if the motors are running |
| UART0_Connect_to_MKGPS(); // connect UART0 to MKGPS pins |
| GPSData.Status = INVALID; |
| DebugUART = UART0; |
| break; |
| } |
| break; |
| case 'w':// new PCPosition for GPSTargetList |
| pWaypoint = (Waypoint_t*)&pRxData[0]; |
| if(pWaypoint->Position.Status == INVALID) |
| { // clear WP List |
| WPList_Clear(); |
| GPS_pWaypoint = WPList_Begin(); |
| //SerialPutString("\r\nClear WP List\r\n"); |
| } |
| else if (pWaypoint->Position.Status == NEWDATA) |
| { // app current WP to the list |
| WPList_Append(pWaypoint); |
| BeepTime = 500; |
| //SerialPutString("\r\nAdd WP to List\r\n"); |
| } |
| Request_NewWaypoint = TRUE; |
| break; |
| default: |
| // unsupported command recieved |
| break; |
| } // case NC_ADDRESS |
| default: // and any other Slave Address |
| switch(rxd_buffer[2]) // check CmdID |
| { |
| case 'a':// request for the labels of the analog debug outputs |
| Request_DebugLabel = pRxData[0]; |
| if(Request_DebugLabel > 31) Request_DebugLabel = 31; |
| break; |
| case 'b': // submit extern control |
| memcpy(&ExternControl, (u8*)&pRxData[0], sizeof(ExternControl)); |
| ConfirmFrame = ExternControl.Frame; |
| break; |
| case 'd': // request for debug data; |
| DebugData_Interval = (u32) pRxData[0] * 10; |
| if(DebugData_Interval > 0) Request_DebugData = TRUE; |
| break; |
| case 'g':// request for external control data |
| Request_ExternalControl = TRUE; |
| break; |
| case 'h':// reqest for display line |
| RemoteKeys |= pRxData[0]; |
| if(RemoteKeys != 0) DisplayLine = 0; |
| Request_Display = TRUE; |
| break; |
| case 'l':// reqest for display columns |
| MenuItem = pRxData[0]; |
| Request_Display1 = TRUE; |
| break; |
| case 'v': // request for version info |
| Request_VerInfo = TRUE; |
| break; |
| default: |
| // unsupported command recieved |
| break; |
| } |
| break; // default: |
| } |
| // unlock the rxd buffer after processing |
| pRxData = NULL; |
| RxDataLen = 0; |
| rxd_buffer_locked = FALSE; |
| } |
| /*****************************************************/ |
| /* Send a character */ |
| /*****************************************************/ |
| s16 uart_putchar (char c) |
| { |
| if (c == '\n') uart_putchar('\r'); |
| // wait until txd fifo is not full |
| while (UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) != RESET); |
| // transmit byte |
| UART_SendData(UART1, c); |
| return (0); |
| } |
| /*****************************************************/ |
| /* Send a string to the debug uart */ |
| /*****************************************************/ |
| void SerialPutString(u8 *s) |
| { |
| if(s == NULL) return; |
| while (*s != '\0' && DebugUART == UART1) |
| { |
| uart_putchar(*s); |
| s ++; |
| } |
| } |
| /**************************************************************/ |
| /* Send the answers to incomming commands at the debug uart */ |
| /**************************************************************/ |
| void UART1_TransmitTxData(void) |
| { |
| if(!txd_complete || (DebugUART != UART1) ) return; |
| if(Request_DebugLabel != 0xFF) |
| { |
| SendOutData('A', NC_ADDRESS, 2, &Request_DebugLabel, sizeof(Request_DebugLabel), (u8 *) ANALOG_LABEL[Request_DebugLabel], 16); |
| Request_DebugLabel = 0xFF; |
| } |
| if(ConfirmFrame && txd_complete) |
| { |
| SendOutData('B', NC_ADDRESS, 1, &ConfirmFrame, sizeof(ConfirmFrame)); |
| ConfirmFrame = 0; |
| } |
| if( ((DebugData_Interval>0 && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete) |
| { |
| SendOutData('D', NC_ADDRESS, 1,(u8 *)&DebugOut, sizeof(DebugOut)); |
| DebugData_Timer = SetDelay(DebugData_Interval); |
| Request_DebugData = FALSE; |
| } |
| if(Request_ExternalControl && txd_complete) |
| { |
| SendOutData('G', NC_ADDRESS, 1, (u8 *)&ExternControl, sizeof(ExternControl)); |
| Request_ExternalControl = FALSE; |
| } |
| if(Request_Display && txd_complete) |
| { |
| LCD_PrintMenu(); |
| SendOutData('H', NC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (u8*)&DisplayBuff[DisplayLine * 20], 20); |
| DisplayLine++; |
| if(DisplayLine >= 4) DisplayLine = 0; |
| Request_Display = FALSE; |
| } |
| if(Request_Display1 && txd_complete) |
| { |
| LCD_PrintMenu(); |
| SendOutData('L', NC_ADDRESS, 3, (u8*)&MenuItem, sizeof(MenuItem), (u8*)&MaxMenuItem, sizeof(MaxMenuItem),(u8*)DisplayBuff, sizeof(DisplayBuff)); |
| Request_Display1 = FALSE; |
| } |
| if(Request_VerInfo && txd_complete) |
| { |
| SendOutData('V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
| Request_VerInfo = FALSE; |
| } |
| if(( (NaviData_Interval && CheckDelay(NaviData_Timer) ) || Request_NaviData) && txd_complete) |
| { |
| NaviData.Errorcode = ErrorCode; |
| SendOutData('O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
| NaviData_Timer = SetDelay(NaviData_Interval); |
| Request_NaviData = FALSE; |
| } |
| if(Request_ErrorMessage && txd_complete) |
| { |
| SendOutData('E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
| Request_ErrorMessage = FALSE; |
| } |
| if(Request_SendFollowMe && txd_complete && (GPSData.NumOfSats >= 4)) // sending for "Follow me" |
| { |
| GPS_CopyPosition(&(GPSData.Position),&(FollowMe.Position)); |
| FollowMe.Position.Status = NEWDATA; |
| FollowMe.Heading = -1; |
| FollowMe.ToleranceRadius = 1; |
| FollowMe.HoldTime = 60; |
| FollowMe.Event_Flag = 0; |
| FollowMe.reserve[0] = 0; // reserve |
| FollowMe.reserve[1] = 0; // reserve |
| FollowMe.reserve[2] = 0; // reserve |
| FollowMe.reserve[3] = 0; // reserve |
| SendOutData('s', NC_ADDRESS, 1, (u8 *)&FollowMe, sizeof(FollowMe)); |
| Request_SendFollowMe = FALSE; |
| } |
| if(Request_NewWaypoint && txd_complete) |
| { |
| u8 WPNumber = WPList_GetCount(); |
| SendOutData('W', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber)); |
| Request_NewWaypoint = FALSE; |
| } |
| } |
| /trunk/uart1.h |
|---|
| 0,0 → 1,111 |
| #ifndef _UART1_H |
| #define _UART1_H |
| #define UART_FLIGHTCTRL 0 |
| #define UART_MK3MAG 1 |
| #define UART_MKGPS 2 |
| #define TXD_BUFFER_LEN 150 |
| #define RXD_BUFFER_LEN 150 |
| #define BAUD_RATE 57600 //Baud Rate for the serial interfaces |
| #include "ubx.h" |
| typedef struct |
| { |
| u8 Digital[2]; |
| u16 Analog[32]; // Debugwerte |
| } __attribute__((packed)) DebugOut_t; |
| extern DebugOut_t DebugOut; |
| typedef struct |
| { |
| u8 Digital[2]; |
| u8 RemoteButtons; |
| s8 Nick; |
| s8 Roll; |
| s8 Yaw; |
| u8 Gas; |
| s8 Height; |
| u8 free; |
| u8 Frame; |
| u8 Config; |
| } __attribute__((packed)) ExternControl_t; |
| extern ExternControl_t ExternControl; |
| typedef struct |
| { |
| s16 Nick; |
| s16 Roll; |
| s16 Compass; // angle between north and head of the MK |
| } __attribute__((packed)) Attitude_t; |
| typedef struct |
| { |
| s16 Distance; // distance to target in cm |
| s16 Bearing; // course to target in deg |
| } __attribute__((packed)) GPS_PosDev_t; |
| typedef struct |
| { |
| GPS_Pos_t CurrentPosition; // see ubx.h for details |
| GPS_Pos_t TargetPosition; |
| GPS_PosDev_t TargetPositionDeviation; |
| GPS_Pos_t HomePosition; |
| GPS_PosDev_t HomePositionDeviation; |
| u8 WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
| u8 WaypointNumber; // number of stored waypoints |
| u8 SatsInUse; // no of satellites used for position solution |
| s16 Altimeter; // hight according to air pressure |
| s16 Variometer; // climb(+) and sink(-) rate |
| u16 FlyingTime; // in seconds |
| u8 UBat; // Battery Voltage in 0.1 Volts |
| u16 GroundSpeed; // speed over ground in cm/s (2D) |
| s16 Heading; // current flight direction in deg as angle to north |
| s16 CompassHeading; // current compass value |
| s8 AngleNick; // current Nick angle in 1° |
| s8 AngleRoll; // current Rick angle in 1° |
| u8 RC_Quality; // RC_Quality |
| u8 MKFlags; // Flags from FC |
| u8 NCFlags; // Flags from NC |
| u8 Errorcode; // 0 --> okay |
| u8 Reserve[8]; // for future use |
| } __attribute__((packed)) NaviData_t; |
| extern NaviData_t NaviData; |
| extern u8 Request_NaviData; |
| #define NC_FLAG_FREE 1 |
| #define NC_FLAG_PH 2 |
| #define NC_FLAG_CH 4 |
| #define NC_FLAG_RANGE_LIMIT 8 |
| typedef struct |
| { |
| u8 SWMajor; |
| u8 SWMinor; |
| u8 ProtoMajor; |
| u8 ProtoMinor; |
| u8 SWPatch; |
| u8 Reserved[5]; |
| } __attribute__((packed)) UART_VersionInfo_t; |
| extern volatile u8 rxd_buffer[RXD_BUFFER_LEN]; |
| extern volatile u8 ReceivedBytes; |
| extern volatile u8 rxd_buffer_locked; |
| extern UART_TypeDef *DebugUART; |
| void UART1_Init(void); |
| void UART1_Transmit(void); |
| void UART1_TransmitTxData(void); |
| void UART1_ProcessRxData(void); |
| s16 uart_putchar (char c); |
| void SerialPutString(u8 *s); |
| extern u8 text[100]; |
| extern u32 Request_NaviData_Intervall; // in 1ms |
| extern u8 Request_SendFollowMe; |
| #endif //_UART1_H |
| /trunk/uart2.c |
|---|
| 0,0 → 1,192 |
| /*#######################################################################################*/ |
| /* !!! 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 <stdio.h> |
| #include "91x_lib.h" |
| #include "uart1.h" |
| /********************************************************/ |
| /* Initialize UART2 */ |
| /********************************************************/ |
| void UART2_Init(void) |
| { |
| UART_InitTypeDef UART_InitStructure; |
| GPIO_InitTypeDef GPIO_InitStructure; |
| SerialPutString("\r\n UART2 init..."); |
| SCU_APBPeriphClockConfig(__UART2, ENABLE); // Enable the UART2 Clock |
| SCU_APBPeriphClockConfig(__GPIO5, ENABLE); // Enable the GPIO5 Clock |
| /*Configure UART2_Rx pin GPIO5.2*/ |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; // UART2_RxD |
| GPIO_Init(GPIO5, &GPIO_InitStructure); |
| SCU_APBPeriphClockConfig(__GPIO3, ENABLE); // Enable the GPIO3 Clock |
| /*Configure UART2_Tx pin GPIO3.0*/ |
| 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_Alternate = GPIO_OutputAlt2; // UART2_TX |
| GPIO_Init(GPIO3, &GPIO_InitStructure); |
| /* UART2 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 = BAUD_RATE; |
| 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(UART2); // reset uart 2 to default |
| UART_Init(UART2, &UART_InitStructure); // initialize uart 2 |
| // enable uart 2 interrupts selective |
| UART_ITConfig(UART2, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE); |
| UART_Cmd(UART2, ENABLE); // enable uart 2 |
| // configure the uart 2 interupt line as an IRQ with priority 9 (0 is highest) |
| VIC_Config(UART2_ITLine, VIC_IRQ, 9); |
| // enable the uart 2 IRQ |
| VIC_ITCmd(UART2_ITLine, ENABLE); |
| SerialPutString("ok"); |
| } |
| void UART2_Deinit(void) |
| { |
| GPIO_InitTypeDef GPIO_InitStructure; |
| SerialPutString("\r\n UART2 deinit..."); |
| VIC_ITCmd(UART2_ITLine, DISABLE); // disable the uart 2 IRQ |
| UART_Cmd(UART2, DISABLE); // disable uart 2 |
| UART_DeInit(UART2); // reset uart 0 to default |
| SCU_APBPeriphClockConfig(__UART2, DISABLE); // disable the UART2 Clock |
| SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
| // unmap UART2 from FC |
| // set port pin 5.2 (serial data from FC) to input and disconnect from IP |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; |
| 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); |
| SCU_APBPeriphClockConfig(__GPIO3, ENABLE); |
| // set port pin 3.0 (serial data to FC) to input and disconnect from IP |
| 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(GPIO3, &GPIO_InitStructure); |
| SerialPutString("ok"); |
| } |
| /********************************************************/ |
| /* UART2 Interrupt Handler */ |
| /********************************************************/ |
| void UART2_IRQHandler(void) |
| { |
| // if receive irq or receive timeout irq has occured |
| if((UART_GetITStatus(UART2, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART2, UART_IT_ReceiveTimeOut) != RESET) ) |
| { |
| UART_ClearITPendingBit(UART2, UART_IT_Receive); // clear receive interrupt flag |
| UART_ClearITPendingBit(UART2, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
| // if debug UART is UART2 |
| if (DebugUART == UART2) |
| { // forward received data to the UART1 tx buffer |
| while(UART_GetFlagStatus(UART2, 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 UART2 to the tx buffer of UART1 |
| UART_SendData(UART1, UART_ReceiveData(UART2)); |
| } |
| } |
| else |
| { |
| // ignore serial data from the FC |
| while(UART_GetFlagStatus(UART2, UART_FLAG_RxFIFOEmpty) != SET) |
| UART_ReceiveData(UART2); |
| } |
| } // eof receive irq or receive timeout irq |
| } |
| /trunk/uart2.h |
|---|
| 0,0 → 1,7 |
| #ifndef __UART2_H |
| #define __UART2_H |
| void UART2_Init (void); |
| void UART2_Deinit (void); |
| #endif //__UART2_H |
| /trunk/ubx.c |
|---|
| 0,0 → 1,464 |
| /*#######################################################################################*/ |
| /* !!! 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 "uart1.h" |
| #include "ubx.h" |
| #include "led.h" |
| #include "timer.h" |
| // ------------------------------------------------------------------------------------------------ |
| // defines |
| #define DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980 722819 // the year 0 does not exist! |
| #define DAYS_PER_YEAR 365 |
| #define DAYS_PER_LEAPYEAR 366 |
| #define DAYS_PER_4YEARS 1461 //((3 * DAYS_PER_YEAR) + DAYS_PER_LEAPYEAR) // years dividable by 4 are leap years |
| #define DAYS_PER_100YEARS 36524 //((25 * DAYS_PER_4YEARS) - 1) // years dividable by 100 are no leap years |
| #define DAYS_PER_400YEARS 146097 //((4 * DAYS_PER_100YEARS) + 1L) // but years dividable by 400 are leap years |
| #define SECONDS_PER_MINUTE 60 |
| #define MINUTES_PER_HOUR 60 |
| #define HOURS_PER_DAY 24 |
| #define DAYS_PER_WEEK 7 |
| #define SECONDS_PER_HOUR 3600 //(SECONDS_PER_MINUTE * MINUTES_PER_HOUR) |
| #define SECONDS_PER_DAY 86400 //(SECONDS_PER_HOUR * HOURS_PER_DAY) |
| #define SECONDS_PER_WEEK 604800 //(SECONDS_PER_DAY * DAYS_PER_WEEK) |
| // days per month in normal and leap years |
| const u32 Leap[ 13 ] = { 0, 31, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335, 366 }; |
| const u32 Normal[ 13 ] = { 0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334, 365 }; |
| #define LEAP_SECONDS_FROM_1980 13 |
| // message sync bytes |
| #define UBX_SYNC1_CHAR 0xB5 |
| #define UBX_SYNC2_CHAR 0x62 |
| // protocoll identifier |
| #define UBX_CLASS_NAV 0x01 |
| // message id |
| #define UBX_ID_POSLLH 0x02 |
| #define UBX_ID_SOL 0x06 |
| #define UBX_ID_VELNED 0x12 |
| // ------------------------------------------------------------------------------------------------ |
| // typedefs |
| // ubx parser state |
| typedef enum |
| { |
| UBXSTATE_IDLE, |
| UBXSTATE_SYNC1, |
| UBXSTATE_SYNC2, |
| UBXSTATE_CLASS, |
| UBXSTATE_LEN1, |
| UBXSTATE_LEN2, |
| UBXSTATE_DATA, |
| UBXSTATE_CKA, |
| UBXSTATE_CKB |
| } ubxState_t; |
| typedef struct |
| { |
| u32 itow; // ms GPS Millisecond Time of Week |
| s32 frac; // ns remainder of rounded ms above |
| s16 week; // GPS week |
| u8 GPSfix; // GPSfix Type, range 0..6 |
| u8 Flags; // Navigation Status Flags |
| s32 ECEF_X; // cm ECEF X coordinate |
| s32 ECEF_Y; // cm ECEF Y coordinate |
| s32 ECEF_Z; // cm ECEF Z coordinate |
| u32 PAcc; // cm 3D Position Accuracy Estimate |
| s32 ECEFVX; // cm/s ECEF X velocity |
| s32 ECEFVY; // cm/s ECEF Y velocity |
| s32 ECEFVZ; // cm/s ECEF Z velocity |
| u32 SAcc; // cm/s Speed Accuracy Estimate |
| u16 PDOP; // 0.01 Position DOP |
| u8 res1; // reserved |
| u8 numSV; // Number of SVs used in navigation solution |
| u32 res2; // reserved |
| Status_t Status; // invalid/newdata/processed |
| } __attribute__((packed)) ubx_nav_sol_t; |
| typedef struct |
| { |
| u32 itow; // ms GPS Millisecond Time of Week |
| s32 VEL_N; // cm/s NED north velocity |
| s32 VEL_E; // cm/s NED east velocity |
| s32 VEL_D; // cm/s NED down velocity |
| u32 Speed; // cm/s Speed (3-D) |
| u32 GSpeed; // cm/s Ground Speed (2-D) |
| s32 Heading; // 1e-05 deg Heading 2-D |
| u32 SAcc; // cm/s Speed Accuracy Estimate |
| u32 CAcc; // deg Course / Heading Accuracy Estimate |
| Status_t Status; // invalid/newdata/processed |
| } __attribute__((packed)) ubx_nav_velned_t; |
| typedef struct |
| { |
| u32 itow; // ms GPS Millisecond Time of Week |
| s32 LON; // 1e-07 deg Longitude |
| s32 LAT; // 1e-07 deg Latitude |
| s32 HEIGHT; // mm Height above Ellipsoid |
| s32 HMSL; // mm Height above mean sea level |
| u32 Hacc; // mm Horizontal Accuracy Estimate |
| u32 Vacc; // mm Vertical Accuracy Estimate |
| Status_t Status; // invalid/newdata/processed |
| } __attribute__((packed)) ubx_nav_posllh_t; |
| //------------------------------------------------------------------------------------ |
| // global variables |
| // local buffers for the incomming ubx messages |
| volatile ubx_nav_sol_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
| volatile ubx_nav_posllh_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
| volatile ubx_nav_velned_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
| u32 CheckGPSOkay = 0; |
| // shared buffer |
| gps_data_t GPSData = {{0,0,0,INVALID},0,0,0,0,0,0,0, INVALID}; |
| DateTime_t GPSDateTime = {0,0,0,0,0,0,0, INVALID}; |
| //------------------------------------------------------------------------------------ |
| // functions |
| u8 IsLeapYear(u16 year) |
| { |
| if((year%400 == 0) || ( (year%4 == 0) && (year%100 != 0) ) ) return 1; |
| else return 0; |
| } |
| /********************************************************/ |
| /* Calculates the UTC Time from the GPS week and tow */ |
| /********************************************************/ |
| void SetGPSTime(DateTime_t * pTimeStruct) |
| { |
| u32 Days, Seconds, Week; |
| u16 YearPart; |
| u32 * MonthDayTab = 0; |
| u8 i; |
| // if GPS data show valid time data |
| if((UbxSol.Status != INVALID) && (UbxSol.Flags & FLAG_WKNSET) && (UbxSol.Flags & FLAG_TOWSET) ) |
| { |
| Seconds = UbxSol.itow / 1000L; |
| Week = (u32)UbxSol.week; |
| // correct leap seconds since 1980 |
| if(Seconds < LEAP_SECONDS_FROM_1980) |
| { |
| Week--; |
| Seconds = SECONDS_PER_WEEK - LEAP_SECONDS_FROM_1980 + Seconds; |
| } |
| else Seconds -= LEAP_SECONDS_FROM_1980; |
| Days = DAYS_FROM_JAN01YEAR0001_TO_JAN6_1980; |
| Days += (Week * DAYS_PER_WEEK); |
| Days += Seconds / SECONDS_PER_DAY; // seperate days from GPS seconds of week |
| pTimeStruct->Year = 1; |
| YearPart = (u16)(Days / DAYS_PER_400YEARS); |
| pTimeStruct->Year += YearPart * 400; |
| Days = Days % DAYS_PER_400YEARS; |
| YearPart = (u16)(Days / DAYS_PER_100YEARS); |
| pTimeStruct->Year += YearPart * 100; |
| Days = Days % DAYS_PER_100YEARS; |
| YearPart = (u16)(Days / DAYS_PER_4YEARS); |
| pTimeStruct->Year += YearPart * 4; |
| Days = Days % DAYS_PER_4YEARS; |
| if(Days < (3* DAYS_PER_YEAR)) YearPart = (u16)(Days / DAYS_PER_YEAR); |
| else YearPart = 3; |
| pTimeStruct->Year += YearPart; |
| // calculate remaining days of year |
| Days -= (u32)(YearPart * DAYS_PER_YEAR); |
| Days += 1; |
| // check if current year is a leap year |
| if(IsLeapYear(pTimeStruct->Year)) MonthDayTab = (u32*)Leap; |
| else MonthDayTab = (u32*)Normal; |
| // seperate month and day from days of year |
| for ( i = 0; i < 12; i++ ) |
| { |
| if ( (MonthDayTab[i]< Days) && (Days <= MonthDayTab[i+1]) ) |
| { |
| pTimeStruct->Month = i+1; |
| pTimeStruct->Day = Days - MonthDayTab[i]; |
| i = 12; |
| } |
| } |
| Seconds = Seconds % SECONDS_PER_DAY; // remaining seconds of current day |
| pTimeStruct->Hour = (u8)(Seconds / SECONDS_PER_HOUR); |
| Seconds = Seconds % SECONDS_PER_HOUR; // remaining seconds of current hour |
| pTimeStruct->Min = (u8)(Seconds / SECONDS_PER_MINUTE); |
| Seconds = Seconds % SECONDS_PER_MINUTE; // remaining seconds of current minute |
| pTimeStruct->Sec = (u8)(Seconds); |
| pTimeStruct->mSec = (u16)(UbxSol.itow % 1000L); |
| pTimeStruct->Valid = 1; |
| } |
| else |
| { |
| pTimeStruct->Valid = 0; |
| } |
| } |
| /********************************************************/ |
| /* Initialize UBX Parser */ |
| /********************************************************/ |
| void UBX_Init(void) |
| { |
| // mark msg buffers invalid |
| UbxSol.Status = INVALID; |
| UbxPosLlh.Status = INVALID; |
| UbxVelNed.Status = INVALID; |
| GPSData.Status = INVALID; |
| } |
| /********************************************************/ |
| /* Upate GPS data stcructure */ |
| /********************************************************/ |
| void Update_GPSData (void) |
| { |
| static u32 Ubx_Timeout = 0; |
| static u8 Msg_Count = 0; |
| // the timeout is used to detect the delay between two message sets |
| // and is used for synchronisation so that always a set is collected |
| // that belongs together |
| // _______NAVSOL|POSLLH|VELNED|___________________NAVSOL|POSLLH|VELNED|_____________ |
| // | 8ms | 8ms | 184 ms | | | |
| // msg_count: 0 1 2 0 1 2 |
| if(CheckDelay(Ubx_Timeout)) Msg_Count = 0; |
| else Msg_Count++; |
| Ubx_Timeout = SetDelay(100); // reset ubx msg timeout |
| // if a new set of ubx messages was collected |
| if((Msg_Count >= 2)) |
| { // if set is complete |
| if((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
| { |
| CheckGPSOkay++; |
| DebugOut.Analog[11]++; |
| // update GPS data only if the status is INVALID or PROCESSED and the last ubx message was received within less than 100 ms |
| if(GPSData.Status != NEWDATA) // if last data were processed |
| { // wait for new data at all neccesary ubx messages |
| GPSData.Status = INVALID; |
| // NAV SOL |
| GPSData.Flags = UbxSol.Flags; |
| GPSData.NumOfSats = UbxSol.numSV; |
| GPSData.SatFix = UbxSol.GPSfix; |
| GPSData.Position_Accuracy = UbxSol.PAcc; |
| GPSData.Speed_Accuracy = UbxSol.SAcc; |
| SetGPSTime(&SystemTime); // update system time |
| // NAV POSLLH |
| GPSData.Position.Status = INVALID; |
| GPSData.Position.Longitude = UbxPosLlh.LON; |
| GPSData.Position.Latitude = UbxPosLlh.LAT; |
| GPSData.Position.Altitude = UbxPosLlh.HMSL; |
| GPSData.Position.Status = NEWDATA; |
| // NAV VELNED |
| GPSData.Speed_East = UbxVelNed.VEL_E; |
| GPSData.Speed_North = UbxVelNed.VEL_N; |
| GPSData.Speed_Top = -UbxVelNed.VEL_D; |
| GPSData.Speed_Ground = UbxVelNed.GSpeed; |
| GPSData.Heading = UbxVelNed.Heading; |
| GPSData.Status = NEWDATA; // new data available |
| } // EOF if(GPSData.Status != NEWDATA) |
| } // EOF all ubx messages received |
| // set state to collect new data |
| UbxSol.Status = PROCESSED; // ready for new data |
| UbxPosLlh.Status = PROCESSED; // ready for new data |
| UbxVelNed.Status = PROCESSED; // ready for new data |
| } |
| } |
| /********************************************************/ |
| /* UBX Parser */ |
| /********************************************************/ |
| void UBX_Parser(u8 c) |
| { |
| static ubxState_t ubxState = UBXSTATE_IDLE; |
| static u16 msglen; |
| static u8 cka, ckb; |
| static u8 *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
| //state machine |
| switch (ubxState) // ubx message parser |
| { |
| case UBXSTATE_IDLE: // check 1st sync byte |
| if (c == UBX_SYNC1_CHAR) ubxState = UBXSTATE_SYNC1; |
| else ubxState = UBXSTATE_IDLE; // out of synchronization |
| break; |
| case UBXSTATE_SYNC1: // check 2nd sync byte |
| if (c == UBX_SYNC2_CHAR) ubxState = UBXSTATE_SYNC2; |
| else ubxState = UBXSTATE_IDLE; // out of synchronization |
| break; |
| case UBXSTATE_SYNC2: // check msg class to be NAV |
| if (c == UBX_CLASS_NAV) ubxState = UBXSTATE_CLASS; |
| else ubxState = UBXSTATE_IDLE; // unsupported message class |
| break; |
| case UBXSTATE_CLASS: // check message identifier |
| switch(c) |
| { |
| case UBX_ID_POSLLH: // geodetic position |
| ubxP = (u8 *)&UbxPosLlh; // data start pointer |
| ubxEp = (u8 *)(&UbxPosLlh + 1); // data end pointer |
| ubxSp = (u8 *)&UbxPosLlh.Status; // status pointer |
| break; |
| case UBX_ID_SOL: // navigation solution |
| ubxP = (u8 *)&UbxSol; // data start pointer |
| ubxEp = (u8 *)(&UbxSol + 1); // data end pointer |
| ubxSp = (u8 *)&UbxSol.Status; // status pointer |
| break; |
| case UBX_ID_VELNED: // velocity vector in tangent plane |
| ubxP = (u8 *)&UbxVelNed; // data start pointer |
| ubxEp = (u8 *)(&UbxVelNed + 1); // data end pointer |
| ubxSp = (u8 *)&UbxVelNed.Status; // status pointer |
| break; |
| default: // unsupported identifier |
| ubxState = UBXSTATE_IDLE; |
| break; |
| } |
| if (ubxState != UBXSTATE_IDLE) |
| { |
| ubxState = UBXSTATE_LEN1; |
| cka = UBX_CLASS_NAV + c; |
| ckb = UBX_CLASS_NAV + cka; |
| } |
| break; |
| case UBXSTATE_LEN1: // 1st message length byte |
| msglen = (u16)c; // lowbyte first |
| cka += c; |
| ckb += cka; |
| ubxState = UBXSTATE_LEN2; |
| break; |
| case UBXSTATE_LEN2: // 2nd message length byte |
| msglen += ((u16)c)<<8; // high byte last |
| cka += c; |
| ckb += cka; |
| // if the old data are not processed so far then break parsing now |
| // to avoid writing new data in ISR during reading by another function |
| if ( *ubxSp == NEWDATA ) |
| { |
| ubxState = UBXSTATE_IDLE; |
| Update_GPSData(); //update GPS info respectively |
| } |
| else // data invalid or allready processd |
| { |
| *ubxSp = INVALID; // mark invalid during buffer filling |
| ubxState = UBXSTATE_DATA; |
| } |
| break; |
| case UBXSTATE_DATA: // collecting data |
| if (ubxP < ubxEp) |
| { |
| *ubxP++ = c; // copy curent data byte if any space is left |
| cka += c; |
| ckb += cka; |
| if (--msglen == 0) ubxState = UBXSTATE_CKA; // switch to next state if all data was read |
| } |
| else // rx buffer overrun |
| { |
| ubxState = UBXSTATE_IDLE; |
| } |
| break; |
| case UBXSTATE_CKA: |
| if (c == cka) ubxState = UBXSTATE_CKB; |
| else |
| { |
| *ubxSp = INVALID; |
| ubxState = UBXSTATE_IDLE; |
| } |
| break; |
| case UBXSTATE_CKB: |
| if (c == ckb) |
| { |
| *ubxSp = NEWDATA; // new data are valid |
| Update_GPSData(); //update GPS info respectively |
| } |
| else |
| { // if checksum not match then set data invalid |
| *ubxSp = INVALID; |
| } |
| ubxState = UBXSTATE_IDLE; // ready to parse new data |
| break; |
| default: // unknown ubx state |
| ubxState = UBXSTATE_IDLE; |
| break; |
| } |
| } |
| /trunk/ubx.h |
|---|
| 0,0 → 1,58 |
| #ifndef __UBX_H |
| #define __UBX_H |
| // Satfix types for GPSData.SatFix |
| #define SATFIX_NONE 0x00 |
| #define SATFIX_DEADRECKOING 0x01 |
| #define SATFIX_2D 0x02 |
| #define SATFIX_3D 0x03 |
| #define SATFIX_GPS_DEADRECKOING 0x04 |
| #define SATFIX_TIMEONLY 0x05 |
| // Flags for interpretation of the GPSData.Flags |
| #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
| #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
| #define FLAG_WKNSET 0x04 // (is Week Number valid) |
| #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
| typedef enum |
| { |
| INVALID = 0, |
| NEWDATA = 1, |
| PROCESSED = 2 |
| } Status_t; |
| typedef struct |
| { |
| s32 Longitude; // in 1E-7 deg |
| s32 Latitude; // in 1E-7 deg |
| s32 Altitude; // in mm |
| Status_t Status;// validity of data |
| } __attribute__((packed)) GPS_Pos_t; |
| typedef struct |
| { |
| GPS_Pos_t Position; // Lat/Lon/Alt |
| u8 Flags; // Status Flags |
| u8 NumOfSats; // number of satelites |
| u8 SatFix; // type of satfix |
| u32 Position_Accuracy; // in cm 3d position accuracy |
| s32 Speed_North; // in cm/s |
| s32 Speed_East; // in cm/s |
| s32 Speed_Top; // in cm/s |
| u32 Speed_Ground; // 2D ground speed in cm/s |
| s32 Heading; // 1e-05 deg Heading 2-D (curent flight direction) |
| u32 Speed_Accuracy; // in cm/s 3d velocity accuracy |
| Status_t Status; // status of data |
| } __attribute__((packed)) gps_data_t; |
| // The data are valid if the GPSData.Status is NEWDATA or PROCESSED. |
| // To achieve new data after reading the GPSData.Status should be set to PROCESSED. |
| extern gps_data_t GPSData; |
| extern u32 CheckGPSOkay; |
| void UBX_Init(void); |
| void UBX_Parser(u8 c); |
| #endif // __UBX_H |
| /trunk/usb.c |
|---|
| 54,99 → 54,104 |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "91x_lib.h" |
| #include "uart1.h" |
| #include "usb.h" |
| //----------------------------------------------------------------- |
| void USB_ConfigInit(void) |
| { |
| GPIO_InitTypeDef GPIO_InitStructure; |
| GPIO_InitTypeDef GPIO_InitStructure; |
| SerialPutString("USB init..."); |
| //USB clock = MCLK= 48MHz |
| SCU_USBCLKConfig(SCU_USBCLK_MCLK); |
| //Enable USB clock |
| SCU_AHBPeriphClockConfig(__USB,ENABLE); |
| SCU_AHBPeriphReset(__USB,DISABLE); |
| SCU_AHBPeriphClockConfig(__USB48M,ENABLE); |
| SerialPutString("\r\n USB init..."); |
| #ifdef MCLK96MHZ |
| //USB clock = MCLK/2 = 48MHz |
| SCU_USBCLKConfig(SCU_USBCLK_MCLK2); |
| #else |
| //USB clock = MCLK = 48MHz |
| SCU_USBCLKConfig(SCU_USBCLK_MCLK); |
| #endif |
| //Enable USB clock |
| SCU_AHBPeriphClockConfig(__USB,ENABLE); |
| SCU_AHBPeriphReset(__USB,DISABLE); |
| SCU_AHBPeriphClockConfig(__USB48M,ENABLE); |
| //Configure GPIO0 (D+ Pull-Up on P0.1) |
| SCU_APBPeriphClockConfig(__GPIO0 ,ENABLE); |
| SCU_APBPeriphReset(__GPIO0,DISABLE); |
| //Configure GPIO0 (D+ Pull-Up on P0.1) |
| SCU_APBPeriphClockConfig(__GPIO0 ,ENABLE); |
| SCU_APBPeriphReset(__GPIO0,DISABLE); |
| // GPIO_DeInit(GPIO0); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| 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_OutputAlt1; |
| GPIO_Init (GPIO0, &GPIO_InitStructure); |
| // GPIO_DeInit(P0.1); |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| 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_OutputAlt1; |
| GPIO_Init (GPIO0, &GPIO_InitStructure); |
| PowerOff(); |
| Virtual_Com_Port_Reset(); |
| PowerOff(); |
| Virtual_Com_Port_Reset(); |
| VIC_Config(USBLP_ITLine, VIC_IRQ, 2); |
| VIC_ITCmd(USBLP_ITLine, ENABLE); |
| VIC_Config(USBLP_ITLine, VIC_IRQ, 2); |
| VIC_ITCmd(USBLP_ITLine, ENABLE); |
| USB_Init(); |
| USB_Init(); |
| SerialPutString("ok\n\r"); |
| SerialPutString("ok"); |
| } |
| //----------------------------------------------------------------- |
| void USB_Cable_Config (FunctionalState NewState) |
| { |
| if (NewState == ENABLE) |
| GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_RESET); |
| else |
| GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_SET); |
| if (NewState == ENABLE) |
| GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_RESET); |
| else |
| GPIO_WriteBit(GPIO0, GPIO_Pin_1, Bit_SET); |
| } |
| //----------------------------------------------------------------- |
| void USB_Send_String(u8 *StrPtr) |
| { |
| u8 i = 0; |
| u16 timeout = 0; |
| while (StrPtr[i++] !=0){} |
| while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
| UserToPMABufferCopy(StrPtr, ENDP1_TXADDR, ++i); |
| SetEPTxCount(ENDP1,i); |
| SetEPTxValid(ENDP1); |
| u8 i = 0; |
| u16 timeout = 0; |
| while (StrPtr[i++] !=0){} // get string len |
| while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
| UserToPMABufferCopy(StrPtr, ENDP1_TXADDR, ++i); // copy string to usb buffer |
| SetEPTxCount(ENDP1,i); |
| SetEPTxValid(ENDP1); |
| } |
| //----------------------------------------------------------------- |
| void USB_Send_Char(u8 ch) |
| { |
| u16 timeout = 0; |
| while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
| UserToPMABufferCopy(&ch, ENDP1_TXADDR, 2); |
| SetEPTxCount(ENDP1,2); |
| SetEPTxValid(ENDP1); |
| } |
| u16 timeout = 0; |
| while (_GetEPTxStatus(ENDP1) != EP_TX_NAK){ if (timeout++ > 60000) return;} |
| UserToPMABufferCopy(&ch, ENDP1_TXADDR, 2); |
| SetEPTxCount(ENDP1,2); |
| SetEPTxValid(ENDP1); |
| } |
| //----------------------------------------------------------------- |
| void USB_Send_Data(u8 *data, u16 count) |
| { |
| u16 timeout = 0; |
| u8 i; |
| count++; |
| for (i=0;i< (count/64)+1;i++) |
| { |
| while (_GetEPTxStatus(ENDP1) != EP_TX_NAK); |
| if (i < (count/64)) |
| { UserToPMABufferCopy(&data[i*64], ENDP1_TXADDR, 64); |
| SetEPTxCount(ENDP1,64); |
| u8 i; |
| count++; |
| for (i=0;i< (count/64)+1;i++) |
| { |
| while (_GetEPTxStatus(ENDP1) != EP_TX_NAK); |
| if (i < (count/64)) |
| { |
| UserToPMABufferCopy(&data[i*64], ENDP1_TXADDR, 64); |
| SetEPTxCount(ENDP1,64); |
| } |
| else |
| { |
| UserToPMABufferCopy(&data[i*64], ENDP1_TXADDR, count % 64); |
| SetEPTxCount(ENDP1, count % 64); |
| } |
| SetEPTxValid(ENDP1); |
| } |
| else |
| { UserToPMABufferCopy(&data[i*64], ENDP1_TXADDR, count % 64); |
| SetEPTxCount(ENDP1, count % 64); |
| } |
| SetEPTxValid(ENDP1); |
| } |
| } |
| /trunk/usb.h |
|---|
| 1,5 → 1,5 |
| #ifndef _USB_H |
| #define _USB_H |
| #define _USB_H |
| #include "usb_lib.h" |
| #include "usb_conf.h" |
| 10,10 → 10,10 |
| extern u32 USB_BufferRxCount; |
| extern u8 USB_BufferRx[]; |
| extern void USB_ConfigInit(void); |
| extern void USB_Cable_Config (FunctionalState NewState); |
| extern void USB_Send_String(u8 *StrPtr); |
| extern void USB_Send_Char(u8 ch); |
| extern void USB_Send_Data(u8 *data, u16 count); |
| void USB_ConfigInit(void); |
| void USB_Cable_Config (FunctionalState NewState); |
| void USB_Send_String(u8 *StrPtr); |
| void USB_Send_Char(u8 ch); |
| void USB_Send_Data(u8 *data, u16 count); |
| #endif |
| /trunk/usb_desc.c |
|---|
| 15,12 → 15,13 |
| * INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. |
| *******************************************************************************/ |
| /* Includes ------------------------------------------------------------------*/ |
| #include "main.h" |
| #include "usb_lib.h" |
| #include "usb_desc.h" |
| /* Private typedef -----------------------------------------------------------*/ |
| /* Private define ------------------------------------------------------------*/ |
| /* Private macro -------------------------------------------------------------*/ |
| /* Private variables ---------------------------------------------------------*/ |
| /* Extern variables ----------------------------------------------------------*/ |
| /* Extern variables ---------------------------------------------------------*/ |
| /* Private function prototypes -----------------------------------------------*/ |
| /* Private functions ---------------------------------------------------------*/ |
| /* USB Standard Device Descriptor */ |
| /trunk/usb_endp.c |
|---|
| 15,7 → 15,12 |
| * INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. |
| *******************************************************************************/ |
| /* Includes ------------------------------------------------------------------*/ |
| #include "main.h" |
| #include <stdio.h> |
| #include "91x_lib.h" |
| #include "uart1.h" |
| #include "usb_lib.h" |
| #include "usb_desc.h" |
| /* Private typedef -----------------------------------------------------------*/ |
| /* Private define ------------------------------------------------------------*/ |
| /* Private macro -------------------------------------------------------------*/ |
| 35,14 → 40,15 |
| *******************************************************************************/ |
| void EP3_OUT_Callback(void) |
| { |
| //USB_BufferRxCount= GetEPRxCount(ENDP3); |
| AnzahlEmpfangsBytes = GetEPRxCount(ENDP3); |
| //PMAToUserBufferCopy(USB_BufferRx, ENDP3_RXADDR, AnzahlEmpfangsBytes ); |
| PMAToUserBufferCopy((u8*) RxdBuffer, ENDP3_RXADDR, AnzahlEmpfangsBytes); |
| NeuerDatensatzEmpfangen = 1; |
| //USB_BufferRx[AnzahlEmpfangsBytes] = 0; |
| USB_BufferRxCount= GetEPRxCount(ENDP3); |
| //ReceivedBytes = GetEPRxCount(ENDP3); |
| PMAToUserBufferCopy(USB_BufferRx, ENDP3_RXADDR, USB_BufferRxCount ); |
| //PMAToUserBufferCopy((u8*) rxd_buffer, ENDP3_RXADDR, ReceivedBytes); |
| //rxd_buffer_locked = 1; |
| USB_BufferRx[USB_BufferRxCount] = 0; // terminate buffer contents |
| SetEPRxValid(ENDP3); |
| sprintf(text,"USB (%d): %s\n\r", AnzahlEmpfangsBytes,RxdBuffer ); SerialPutString(text); |
| sprintf(text,"USB (%ld): %s\n\r", USB_BufferRxCount, USB_BufferRx); |
| SerialPutString(text); |
| // USB_Send_Data(RxdBuffer, AnzahlEmpfangsBytes); |
| // USB_Send_String("Rx.\0"); |
| /trunk/usb_istr.c |
|---|
| 15,7 → 15,8 |
| * INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. |
| *******************************************************************************/ |
| /* Includes ------------------------------------------------------------------*/ |
| #include "main.h" |
| #include "usb_lib.h" |
| #include "usb_pwr.h" |
| /* Private typedef -----------------------------------------------------------*/ |
| /* Private define ------------------------------------------------------------*/ |
| /* Private macro -------------------------------------------------------------*/ |
| /trunk/usb_prop.c |
|---|
| 16,7 → 16,10 |
| *******************************************************************************/ |
| /* Includes ------------------------------------------------------------------*/ |
| #include "main.h" |
| #include "usb_lib.h" |
| #include "usb_desc.h" |
| #include "usb_pwr.h" |
| #include "usb_prop.h" |
| /* Private typedef -----------------------------------------------------------*/ |
| /* Private define ------------------------------------------------------------*/ |
| /* Private macro -------------------------------------------------------------*/ |
| /trunk/usb_pwr.c |
|---|
| 15,7 → 15,9 |
| * INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. |
| *******************************************************************************/ |
| /* Includes ------------------------------------------------------------------*/ |
| #include "main.h" |
| #include "usb_lib.h" |
| #include "hw_config.h" |
| #include "usb_pwr.h" |
| /* Private typedef -----------------------------------------------------------*/ |
| /* Private define ------------------------------------------------------------*/ |
| /* Private macro -------------------------------------------------------------*/ |
| /trunk/waypoints.c |
|---|
| 0,0 → 1,130 |
| /*#######################################################################################*/ |
| /* !!! 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 <string.h> |
| #include "91x_lib.h" |
| #include "waypoints.h" |
| #include "uart1.h" |
| // the waypoints list |
| #define WPLISTLEN 20 |
| Waypoint_t WPList[WPLISTLEN]; |
| u8 WPIndex = 0; |
| u8 WPNumber = 0; |
| u8 WPList_Init(void) |
| { |
| return WPList_Clear(); |
| } |
| u8 WPList_Clear(void) |
| { |
| u8 i; |
| WPIndex = 0; |
| WPNumber = 0; |
| NaviData.WaypointNumber = WPNumber; |
| NaviData.WaypointIndex = WPIndex; |
| for(i = 0; i < WPLISTLEN; i++) |
| { |
| WPList[i].Position.Status = INVALID; |
| } |
| return TRUE; |
| } |
| u8 WPList_GetCount(void) |
| { |
| return WPNumber; |
| } |
| u8 WPList_Append(Waypoint_t* pwp) |
| { |
| if(WPNumber < WPLISTLEN) // id there is still some space in the list |
| { |
| memcpy(&WPList[WPNumber], pwp, sizeof(Waypoint_t)); // copy wp data to list entry |
| WPList[WPNumber].Position.Status = NEWDATA; // mark as new data |
| WPNumber++; // increment list length |
| NaviData.WaypointNumber = WPNumber; |
| return TRUE; |
| } |
| else return FALSE; |
| } |
| // rewind to the begin of the list, and returns the first waypoint |
| Waypoint_t* WPList_Begin(void) |
| { |
| WPIndex = 0; // reset list index |
| NaviData.WaypointIndex = WPIndex; |
| if(WPNumber > 0) return(&(WPList[WPIndex])); // if list is not empty return pointer to first waypoint in the list |
| else return NULL; // else return NULL |
| } |
| // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
| Waypoint_t* WPList_Next(void) |
| { |
| if((WPIndex + 1) < WPNumber) // if the next WPIndex exist |
| { |
| WPIndex++; // goto next |
| NaviData.WaypointIndex = WPIndex; |
| return(&(WPList[WPIndex])); // return pointer to this waypoint |
| } |
| else return NULL; |
| } |
| /trunk/waypoints.h |
|---|
| 0,0 → 1,23 |
| #ifndef _WAYPOINTS_H |
| #define _WAYPOINTS_H |
| #include "ubx.h" |
| typedef struct |
| { |
| GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
| s16 Heading; // orientation, future implementation |
| u8 ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered |
| u8 HoldTime; // in seconds, if the was once in the tolerance area around a WP, this time defies the delay before the next WP is triggered |
| u8 Event_Flag; // future emplementation |
| u8 reserve[12]; // reserve |
| } __attribute__((packed)) Waypoint_t; |
| u8 WPList_Init(void); |
| u8 WPList_Clear(void); |
| u8 WPList_GetCount(void); |
| u8 WPList_Append(Waypoint_t* pwp); |
| Waypoint_t* WPList_Begin(void); |
| Waypoint_t* WPList_Next(void); |
| #endif // _WAYPOINTS_H |