WebSVN - NaviCtrl - Path Comparison

Ignore whitespace Rev 7 → Rev 8

/branches/V0.1 killagreg/hw_config.c
File deleted

 /branches/V0.1 killagreg/91x_conf.h
 ,7 → 41,7
 /************************* FMI *************************/
 #define _FMI
 /************************* WIU *************************/
-//#define _WIU
+#define _WIU
 /************************* TIM *************************/
 #define _TIM
 #define _TIM0

 /branches/V0.1 killagreg/GPSUart.c
 ,13 → 182,14
     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_InitStructure.GPIO_Alternate =         GPIO_InputAlt1;
     GPIO_Init(GPIO5, &GPIO_InitStructure);
         // set port pin 5.0 (serial data to compass) to input
         GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;
     GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_0;
-    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull ;
-    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1  ;
+    GPIO_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
 ,13 → 197,14
     GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_6;
     GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull ;
     GPIO_InitStructure.GPIO_IPConnected =       GPIO_IPConnected_Enable;
-    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1  ;
+    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1; //UART0_RxD
     GPIO_Init(GPIO6, &GPIO_InitStructure);
         // set port pin 6.7 (serial data to gps) to output
         GPIO_InitStructure.GPIO_Direction =     GPIO_PinOutput;
     GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_7;
-    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull ;
-    GPIO_InitStructure.GPIO_Alternate =         GPIO_OutputAlt3  ;
+    GPIO_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);
 }
 ,15 → 220,16
         // set port pin 6.6 (serial data from gps) to input and disconnect from IP
         GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;
     GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_6;
-    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull ;
+    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull;
     GPIO_InitStructure.GPIO_IPConnected =       GPIO_IPConnected_Disable;
-    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1  ;
+    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1;
     GPIO_Init(GPIO6, &GPIO_InitStructure);
         // set port pin 6.7 (serial data to gps) to input
         GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;
     GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_7;
-    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull ;
-    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1  ;
+    GPIO_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
 ,13 → 238,14
     GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_1;
     GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull ;
     GPIO_InitStructure.GPIO_IPConnected =       GPIO_IPConnected_Enable;
-    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1  ;
+    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1; //UART0_RxD
     GPIO_Init(GPIO5, &GPIO_InitStructure);
         // set port pin 5.0 (serial data to compass) to output
         GPIO_InitStructure.GPIO_Direction =     GPIO_PinOutput;
     GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_0;
-    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull ;
-    GPIO_InitStructure.GPIO_Alternate =         GPIO_OutputAlt3  ;
+    GPIO_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);
 }
 ,7 → 260,7
         SCU_APBPeriphClockConfig(__UART0, ENABLE);  // Enable the UART0 Clock
-        Connect_UART0_to_GPS();  // initialize pins to GPS
+        Connect_UART0_to_GPS();  // initialize pins to GPS serial interface
         /* UART1 configured as follow:
           - Word Length = 8 Bits
 ,7 → 303,7
 }
 /********************************************************/
-/*            UART0 Interrupt Handler                   */
+/*            Upate GPS data stcructure                 */
 /********************************************************/
 void Update_GPS_Data (void)
 {

/branches/V0.1 killagreg/Navi-Ctrl.Uv2
58,6 → 58,7
File 4,1,<.\libstr91x\src\91x_ssp.c><91x_ssp.c>
File 4,1,<.\libstr91x\src\91x_i2c.c><91x_i2c.c>
File 4,1,<.\libstr91x\src\91x_fmi.c><91x_fmi.c>
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_init.c><usb_init.c>

 /branches/V0.1 killagreg/i2c.c
 ,11 → 93,11
         SerialPutString("I2C init...");
         SCU_APBPeriphClockConfig(__I2C1,ENABLE);
         I2C_DeInit(I2C1);
+        // configure P2.2->I2C1_CLKOUT and P2.3->I2C1_DOUT
         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_Struct.GPIO_Alternate=GPIO_OutputAlt2; //I2C1_CLKOUT, I2C1_DOUT
         GPIO_Init(GPIO2, &GPIO_Struct);
         I2C_Struct.I2C_GeneralCall = I2C_GeneralCall_Disable;

 /branches/V0.1 killagreg/interrupt.c
 ,7 → 94,7
 void FIQ_Handler (void)
 {
-}
+}
 /*******************************************************************************
 * Function Name  : Prefetch_Handler
 * Description    : This function handles preftetch abort exception.
 ,9 → 303,9
 * Function Name  : EXTIT1_IRQHandler
 * Description    : This function handles the EXTIT1 interrupt request
 *******************************************************************************/
-void EXTIT1_IRQHandler(void)
+/*void EXTIT1_IRQHandler(void)
 {
-}
+}*/
 /*******************************************************************************
 * Function Name  : EXTIT2_IRQHandler
 * Description    : This function handles the EXTIT2 interrupt request

 /branches/V0.1 killagreg/main.c
 ,8 → 65,10
 #include "i2c.h"
 #include "timer.h"
 #include "spi_slave.h"
+#include "ssc.h"
 #include "sdc.h"
 #include "usb.h"
+#include "sdc.h"
 #include "main.h"
 u32 TimerCompassUpdate;
 ,10 → 106,12
         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_PCLKDivisorConfig(SCU_PCLK_Div2);   // set PCLK     (APB bus clock) divisor to 2 (half Reference Clock)
+        //SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2
         SCU_PLLFactorsConfig(192,25,3);                 // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
         SCU_PLLCmd(ENABLE);                                     // Enable PLL (is disabled by SCU_PLLFactorsConfig)
         SCU_MCLKSourceConfig(SCU_MCLK_PLL);     // set master clock source to PLL
         /* Fill Version Info Structure */
         VersionInfo.Major = VERSION_MAJOR;
         VersionInfo.Minor = VERSION_MINOR;
 ,6 → 123,8
         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
         Led_Init();
         // initialize the debug UART1
 ,11 → 138,13
         USB_ConfigInit();
         // initialize SPI0 to FC
         SPI0_Init();
-        // initialize timer 1
-        TIMER1_Init();
         // initialize i2c bus to MK3MAG
         I2C1_Init();
+        // initialise SSC to the sdcard.
+        SSC_Init();
+        // try to initialize the sd card
+        SDC_Init();
         // get version from MK3MAG
         I2C_Version.Major = 0xFF;
         SendI2C_Command(I2C_CMD_VERSION);
 ,6 → 154,8
         TimerCompassUpdate = SetDelay(5);
         TimerI2CReadDelay = SetDelay(5);
         /*
         InitFat16();

 /branches/V0.1 killagreg/sdc.c
 ,6 → 59,8
 #include "uart.h"
 #include "sdc.h"
 #include "ssc.h"
+#include "timer.h"
+#include "main.h"
 //________________________________________________________________________________________________________________________________________
 ,49 → 143,39
 // September 25, 2006
 // SD Group
 */
-u8 SDC_Init(void)
-{
-        GPIO_InitTypeDef GPIO_InitStructure;
-        SCU_APBPeriphClockConfig(__GPIO5, ENABLE); // Enable the GPIO5 Clock
+Result_t SDInitState = SD_ERROR_UNKNOWN;
-        /* Configure SD_SWITCH at pin GPIO5.3*/
-    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);
-        u16 Timeout = 0;
+Result_t SDC_Init(void)
+{
+        SerialPutString("SD init...");
+        u32 Timeout = 0;
         // initialized to CMD0 (GO_IDLE_STATE)
         u8 CMD[] = {0x40,0x00,0x00,0x00,0x00,0x95};
-        u8 b;
-        SSC_Init();     // Initialise SSC to transmit data to the sdcard.
-        SerialPutString("Init SD...");
-        // relict from MMC reset! Useless for SD-Cards
-        for (b = 0;b<0x0f;b++)
+        SDInitState = SD_ERROR_UNKNOWN;
+        SSC_Disable();
+        // at least 72 clock cycles with CS dectivated (logic high) to initiate a hardwar reset
+        for (Timeout = 0; Timeout < 10; Timeout++)      // 10*8 = 80 cycles
         {
                 SSC_PutChar(0xff);
         }
         // Try to enable the SPI-Mode at the sd-card.
-        // Send CMD0 (GO_IDLE_STATE) to the sd-card when CS-SD is activated (lowactive!)
+        // Send CMD0 (GO_IDLE_STATE) to the sd-card when CS-SD is activated (lowactive)
         // until the response byte indicates no error and in idle state (0x01).
-        SerialPutString("SD reset...");
         while(SDC_PutCommand (CMD) != 0x01)
         {
                 if (Timeout++ > 200)
                 {
-                        return(1);
+                        SerialPutString("reset timeout.\r\n");
+                        SDInitState = SD_ERROR_RESET;
+                        return(SDInitState);
                 }
         }
-        SerialPutString("ok.\r\n");
         Timeout = 0;
         // Sending CMD1  (SEND_OP_COND) to the sd-card.
         // (Sends host capacity support information and activates the card's initialization process.)
 ,23 → 183,49
         // only if used after re-initializing a card (not after power on reset).
         CMD[0] = 0x41; // update command index
         CMD[5] = 0xFF; // and CRC7 checksum
-        // Send CMD1 until response byte indicated
-        SerialPutString("SD initialize...");
+        // Send CMD1 until response byte indicates end of idle state
+        Timeout =  SetDelay(200); // set timeout to 200 ms (large cards tend to longer)
         while( SDC_PutCommand (CMD) != 0x00)
         {
-                if (Timeout++ > 100)
+                if(CheckDelay(Timeout))
                 {
-                        return(2);
+                    SerialPutString("initialize timeout.\r\n");
+                        SDInitState = SD_ERROR_RESET;
+                        return(SDInitState);
                 }
         }
+        SSC_Disable();
         SerialPutString("ok.\r\n");
-        SSC_Disable();                                                                                                  // disable sdcard.
-        return(0);
+        SDInitState = SD_SUCCESS;                                                                                                       // disable sdcard.
+        return(SDInitState);
 }
+//________________________________________________________________________________________________________________________________________
+// Funtion: EXTIT1_IRQHandler(void);
+//
+// Description: This function handles the extnernal interrupts from port 5.3 (SD_SWITCH)
+//
+//
+// Returnvalue: none
+//________________________________________________________________________________________________________________________________________
+void EXTIT1_IRQHandler(void)
+{
+        VIC_ITCmd(EXTIT1_ITLine, DISABLE);
+        if(WIU_GetITStatus(WIU_Line11) != RESET)
+        {
+                if(SD_SWITCH) // if sd-card is mechanically present
+                {
+                        BeepTime = 50;
+                        DebugOut.Analog[4]++;
+                        SDC_Init(); // initialize sd-card.
+                }
+                WIU_ClearFlag(WIU_Line1);
+                WIU_ClearITPendingBit(WIU_Line11);
+        }
+        VIC_ITCmd(EXTIT1_ITLine, ENABLE);
+}
 //________________________________________________________________________________________________________________________________________
 // Funtion:     SDC_PutCommand(* CMD);
 //

 /branches/V0.1 killagreg/sdc.h
 ,7 → 9,16
 //
 //________________________________________________________________________________________________________________________________________
-extern u8       SDC_Init(void);
+typedef enum
+{
+  SD_SUCCESS,
+  SD_ERROR_RESET,
+  SD_ERROR_INITIALIZE,
+  SD_ERROR_UNKNOWN
+} Result_t;
+extern Result_t SDInitState;
+extern Result_t SDC_Init(void);
 extern u8       SDC_GetSector (u32,u8 *);
 extern u8       SDC_PutSector (u32,u8 *);
 extern u8       SDC_PutCommand (u8 *);

 /branches/V0.1 killagreg/spi_slave.c
 ,12 → 216,12
         SCU_APBPeriphClockConfig(__SSP0 ,ENABLE);
         GPIO_DeInit(GPIO2);
-        //SSP0_CLK, SSP0_MOSI, SSP0_SS pins
+        //SSP0_CLK, SSP0_MOSI, SSP0_NSS 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_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //SSP0_SCLK, SSP0_MOSI, SSP0_NSS
         GPIO_Init (GPIO2, &GPIO_InitStructure);
         // SSP0_MISO pin GPIO2.6
 ,7 → 229,7
         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_InitStructure.GPIO_Alternate = GPIO_OutputAlt2; //SSP0_MISO
         GPIO_Init (GPIO2, &GPIO_InitStructure);
         SSP_DeInit(SSP0);

 /branches/V0.1 killagreg/ssc.c
 ,7 → 55,6
 // +  POSSIBILITY OF SUCH DAMAGE.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #include "91x_lib.h"
-#include "uart.h"
 //________________________________________________________________________________________________________________________________________
 // Module name:                 ssc.c
 ,10 → 120,9
 void SSC_Init(void)
 {
-        SerialPutString("SPI1 init...");
-        GPIO_InitTypeDef GPIO_InitStructure;
-        SSP_InitTypeDef   SSP_InitStructure;
+        GPIO_InitTypeDef        GPIO_InitStructure;
+        SSP_InitTypeDef         SSP_InitStructure;
+        WIU_InitTypeDef         WIU_InitStructure;
         // enable APB clock for SPI1
         SCU_APBPeriphClockConfig(__SSP1 ,ENABLE);
         // configure P5.4 -> SD-CS as an output pin
 ,14 → 155,38
         SSP_InitStructure.SSP_CPOL = SSP_CPOL_Low;
         // Set Baud Rate (Prescaler)
         // bit rate is BRCLK/SSP_ClockPrescaler/(1+SSP_ClockRate))
-        // With MSCLK = 48MHz = BRCLK we get for the SPICLK = 48Mhz / 8 / (1+5) = 1MHz
+        // With MSCLK = 48MHz/2 = BRCLK we get for the SPICLK = 24Mhz / 8 / (1+5) = 500 kHz
         SSP_InitStructure.SSP_ClockRate = 5;
         SSP_InitStructure.SSP_ClockPrescaler = 8;
         SSP_Init(SSP1, &SSP_InitStructure);
         SSC_Disable();
         SSP_Cmd(SSP1, ENABLE);
+        // Configure SD_SWITCH at pin GPIO5.3 as an external irq 11
+        // configure the port
+        SCU_APBPeriphClockConfig(__GPIO5, ENABLE); // Enable the GPIO5 Clock
+    GPIO_InitStructure.GPIO_Direction =         GPIO_PinInput;
+    GPIO_InitStructure.GPIO_Pin =                       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(GPIO5, &GPIO_InitStructure);
-        SerialPutString("ok\r\n");
+        // configure the EXT11 interrupt line (P5.3) as an IRQ with the lowest priority
+        SCU_APBPeriphClockConfig(__WIU, ENABLE);
+        WIU_Cmd(ENABLE );
+        WIU_ClearITPendingBit(WIU_Line11);
+        WIU_DeInit();
+        WIU_InitStructure.WIU_TriggerEdge = WIU_FallingEdge;
+        WIU_InitStructure.WIU_Line = WIU_Line11;
+        WIU_Init(&WIU_InitStructure);
+        // The  EXTIT1_IRQHandler() is called every time the SD-Switch is activated (falling edge)
+        // by inserting an sd-card
+        SCU_WakeUpLineConfig(11);
+    VIC_Config(EXTIT1_ITLine, VIC_IRQ, 7);
+    VIC_ITCmd(EXTIT1_ITLine, ENABLE);
 }

 /branches/V0.1 killagreg/ssc.h
 ,6 → 9,8
 //
 //________________________________________________________________________________________________________________________________________
+#define SD_SWITCH !(GPIO_ReadBit(GPIO5, GPIO_Pin_3))
 extern void SSC_Init(void);
 extern u8       SSC_GetChar (void);
 extern void SSC_PutChar (u8);

 /branches/V0.1 killagreg/uart.c
 ,16 → 154,16
     GPIO_DeInit(GPIO3);
         GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;
     GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_2;
-    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull ;
+    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull;
     GPIO_InitStructure.GPIO_IPConnected =       GPIO_IPConnected_Enable;
-    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1  ;
+    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1; // UART1_RxD
     GPIO_Init(GPIO3, &GPIO_InitStructure);
     /*Configure UART1_Tx pin GPIO3.3*/
         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  ;
+    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull;
+    GPIO_InitStructure.GPIO_Alternate =         GPIO_OutputAlt2; // UART1_TX
     GPIO_Init(GPIO3, &GPIO_InitStructure);
         /* UART1 configured as follow:

 /branches/V0.1 killagreg/usb.c
 ,7 → 76,7
         SCU_APBPeriphClockConfig(__GPIO0 ,ENABLE);
         SCU_APBPeriphReset(__GPIO0,DISABLE);
-        // GPIO_DeInit(GPIO0);
+        // GPIO_DeInit(P0.1);
         GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput;
         GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
         GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ;

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Ignore whitespace Rev 7 → Rev 8