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| /*#######################################################################################*/ |
| /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| /*#######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 2008 Ingo Busker, Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + FOR NON COMMERCIAL USE ONLY |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
| // |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "91x_lib.h" |
| #include "uart0.h" |
| #include "uart1.h" |
| #include "ubx.h" |
| #include <stdio.h> |
| #include <stdarg.h> |
| |
| //------------------------------------------------------------------------------------ |
| // global variables |
| |
| |
| // UART0 MUXER |
| |
| UART0_MuxerState_t UART0_Muxer = UART0_UNDEF; |
| u16 Uart0Baudrate = BAUD_RATE; |
| u16 Uart0MK3MagBaudrate = BAUD_RATE; |
| |
| volatile u8 txd_buffer0[TXD_BUFFER_LEN]; |
| volatile u8 txd_complete0 = TRUE; |
| static u16 ptr_txd_buffer0 = 0; |
| |
| //------------------------------------------------------------------------------------ |
| // functions |
| |
| /********************************************************/ |
| /* Connect RXD & TXD to GPS */ |
| /********************************************************/ |
| void UART0_Connect_to_MKGPS(void) |
| { |
| GPIO_InitTypeDef GPIO_InitStructure; |
| |
| UART0_Muxer = UART0_UNDEF; |
| |
| SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
| // unmap UART0 from Compass |
| // set port pin 5.1 (serial data from compass) to input and disconnect from IP |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| GPIO_Init(GPIO5, &GPIO_InitStructure); |
| // set port pin 5.0 (serial data to compass) to input |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| GPIO_Init(GPIO5, &GPIO_InitStructure); |
| // map UART0 to GPS |
| // set port pin 6.6 (serial data from gps) to input and connect to IP |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
| GPIO_Init(GPIO6, &GPIO_InitStructure); |
| // set port pin 6.7 (serial data to gps) to output |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
| GPIO_Init(GPIO6, &GPIO_InitStructure); |
| |
| UART0_Muxer = UART0_MKGPS; |
| } |
| |
| /********************************************************/ |
| /* Connect RXD & TXD to MK3MAG */ |
| /********************************************************/ |
| void UART0_Connect_to_MK3MAG(void) |
| { |
| GPIO_InitTypeDef GPIO_InitStructure; |
| |
| UART0_Muxer = UART0_UNDEF; |
| |
| SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
| // unmap UART0 from GPS |
| // set port pin 6.6 (serial data from gps) to input and disconnect from IP |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| GPIO_Init(GPIO6, &GPIO_InitStructure); |
| // set port pin 6.7 (serial data to gps) to input |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
| GPIO_Init(GPIO6, &GPIO_InitStructure); |
| |
| // map UART0 to Compass |
| // set port pin 5.1 (serial data from compass) to input and connect to IP |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
| GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
| GPIO_Init(GPIO5, &GPIO_InitStructure); |
| // set port pin 5.0 (serial data to compass) to output |
| GPIO_StructInit(&GPIO_InitStructure); |
| GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
| GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
| GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
| GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
| GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
| GPIO_Init(GPIO5, &GPIO_InitStructure); |
| |
| UART0_Muxer = UART0_MK3MAG; |
| } |
| |
| /********************************************************/ |
| /* Initialize UART0 */ |
| /********************************************************/ |
| void UART0_Init(void) |
| { |
| UART_InitTypeDef UART_InitStructure; |
| |
| SerialPutString("\r\n UART0 init..."); |
| |
| SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART0 Clock |
| |
| Uart0Baudrate = BAUD_RATE + ((BAUD_RATE * 2)/100); // MK3Mag baudrate is a litlle bit higher... |
| |
| /* UART0 configured as follow: |
| - Word Length = 8 Bits |
| - One Stop Bit |
| - No parity |
| - BaudRate = 57600 baud |
| - Hardware flow control Disabled |
| - Receive and transmit enabled |
| - Receive and transmit FIFOs are Disabled |
| */ |
| UART_StructInit(&UART_InitStructure); |
| UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
| UART_InitStructure.UART_StopBits = UART_StopBits_1; |
| UART_InitStructure.UART_Parity = UART_Parity_No ; |
| UART_InitStructure.UART_BaudRate = Uart0Baudrate; |
| UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
| UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
| UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
| UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
| UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
| |
| UART_DeInit(UART0); // reset uart 0 to default |
| UART_Init(UART0, &UART_InitStructure); // initialize uart 0 |
| |
| // enable uart 0 interrupts selective |
| UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut /*| UART_IT_FrameError*/, ENABLE); |
| UART_Cmd(UART0, ENABLE); // enable uart 0 |
| // configure the uart 0 interupt line as an IRQ with priority 10 (0 is highest) |
| VIC_Config(UART0_ITLine, VIC_IRQ, 10); |
| // enable the uart 0 IRQ |
| VIC_ITCmd(UART0_ITLine, ENABLE); |
| UART0_Connect_to_MKGPS(); |
| SerialPutString("ok"); |
| } |
| |
| /**************************************************************/ |
| /* Transmit tx buffer via debug uart */ |
| /**************************************************************/ |
| void UART0_Transmit(void) |
| { |
| u8 tmp_tx; |
| // if something has to be send and the txd fifo is not full |
| if((!txd_complete0) && (UART_GetFlagStatus(UART0, UART_FLAG_TxFIFOFull) == RESET)) |
| { |
| tmp_tx = txd_buffer0[ptr_txd_buffer0]; // read byte from txd buffer |
| // if terminating character or end of txd buffer reached |
| if((tmp_tx == '\r') || (ptr_txd_buffer0 == TXD_BUFFER_LEN)) |
| { |
| ptr_txd_buffer0 = 0; // reset txd buffer pointer |
| txd_complete0 = TRUE;// set complete flag |
| } |
| UART_SendData(UART0, tmp_tx); // put character to txd fifo |
| // set pointer to next byte |
| ptr_txd_buffer0++; |
| } |
| } |
| |
| /**************************************************************/ |
| /* Add CRC and initiate transmission via debug uart */ |
| /**************************************************************/ |
| void AddCRC0(u16 datalen) |
| { |
| u16 tmpCRC = 0, i; |
| for(i = 0; i < datalen; i++) |
| { |
| tmpCRC += txd_buffer0[i]; |
| } |
| tmpCRC %= 4096; |
| txd_buffer0[i++] = '=' + tmpCRC / 64; |
| txd_buffer0[i++] = '=' + tmpCRC % 64; |
| txd_buffer0[i++] = '\r'; |
| |
| ptr_txd_buffer0 = 0; |
| txd_complete0 = FALSE; |
| UART_SendData(UART0, txd_buffer0[ptr_txd_buffer0++]); // send first byte, to be continued in the txd irq |
| } |
| |
| |
| |
| /**************************************************************/ |
| /* Code output data */ |
| /**************************************************************/ |
| void SendOutData0(u8 cmd, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, .... |
| { |
| va_list ap; |
| |
| u16 pt = 0; |
| u8 a,b,c; |
| u8 ptr = 0; |
| |
| u8* pdata = NULL; |
| int len = 0; |
| |
| txd_buffer0[pt++] = '#'; // Start character |
| txd_buffer0[pt++] = 'a' + Address; // Address (a=0; b=1,...) |
| txd_buffer0[pt++] = cmd; // Command |
| |
| va_start(ap, numofbuffers); |
| if(numofbuffers) |
| { |
| pdata = va_arg(ap, u8*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| while(len) |
| { |
| if(len) |
| { |
| a = pdata[ptr++]; |
| len--; |
| if((!len) && numofbuffers) // try to jump to next buffer |
| { |
| pdata = va_arg(ap, u8*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| } |
| else a = 0; |
| if(len) |
| { |
| b = pdata[ptr++]; |
| len--; |
| if((!len) && numofbuffers) // try to jump to next buffer |
| { |
| pdata = va_arg(ap, u8*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| } |
| else b = 0; |
| if(len) |
| { |
| c = pdata[ptr++]; |
| len--; |
| if((!len) && numofbuffers) // try to jump to next buffer |
| { |
| pdata = va_arg(ap, u8*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| numofbuffers--; |
| } |
| } |
| else c = 0; |
| txd_buffer0[pt++] = '=' + (a >> 2); |
| txd_buffer0[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| txd_buffer0[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| txd_buffer0[pt++] = '=' + ( c & 0x3f); |
| } |
| va_end(ap); |
| AddCRC0(pt); // add checksum after data block and initates the transmission |
| } |
| |
| |
| /********************************************************/ |
| /* UART0 Interrupt Handler */ |
| /********************************************************/ |
| void UART0_IRQHandler(void) |
| { |
| u8 c; |
| /* |
| static u8 frame_error_cnt = 0; |
| |
| // use frame error to adjust baudrate for MK3MAG |
| if((UART_GetITStatus(UART0, UART_IT_FrameError) == SET)) |
| { |
| u8 msg[20]; |
| frame_error_cnt++; |
| |
| if (frame_error_cnt == 200) |
| { |
| frame_error_cnt = 0; |
| VIC_ITCmd(UART0_ITLine, DISABLE); |
| |
| Uart0MK3MagBaudrate +=100; |
| if (Uart0MK3MagBaudrate > (BAUD_RATE+1000)) Uart0MK3MagBaudrate = BAUD_RATE; |
| |
| Uart0Baudrate = Uart0MK3MagBaudrate; |
| |
| SerialPutString(" adjusting UART0 baudrate to"); |
| sprintf(msg, " %d baud...", Uart0MK3MagBaudrate); SerialPutString(msg); |
| |
| while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
| { |
| c = UART_ReceiveData(UART0); |
| } |
| |
| UART_ClearITPendingBit(UART0, UART_IT_FrameError); // clear frame error interrupt flag |
| |
| UART0_Init(); |
| return; |
| } |
| |
| }*/ |
| // if receive irq or receive timeout irq has occured |
| if((UART_GetITStatus(UART0, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART0, UART_IT_ReceiveTimeOut) != RESET) ) |
| { |
| UART_ClearITPendingBit(UART0, UART_IT_Receive); // clear receive interrupt flag |
| UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
| |
| // if debug UART is UART0 |
| if (DebugUART == UART0) |
| { // forward received data to the UART1 tx buffer |
| while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
| { |
| // wait for space in the tx buffer of the UART1 |
| while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {}; |
| // move the byte from the rx buffer of UART0 to the tx buffer of UART1 |
| UART_SendData(UART1, UART_ReceiveData(UART0)); |
| } |
| } |
| else // UART0 is not the DebugUART (normal operation) |
| { |
| // repeat until no byte is in the RxFIFO |
| while (UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
| { |
| c = UART_ReceiveData(UART0); // get byte from rx fifo |
| switch(UART0_Muxer) |
| { |
| case UART0_MKGPS: |
| UBX_Parser(c); // if connected to GPS forward byte to ubx parser |
| break; |
| case UART0_MK3MAG: |
| // ignore any byte send from MK3MAG |
| break; |
| case UART0_UNDEF: |
| default: |
| // ignore the byte from unknown source |
| break; |
| } // eof switch(UART0_Muxer) |
| } // eof while |
| } // eof UART0 is not the DebugUART |
| } // eof receive irq or receive timeout irq |
| } |