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1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
6 | // + Nur für den privaten Gebrauch |
6 | // + Nur für den privaten Gebrauch |
7 | // + FOR NON COMMERCIAL USE ONLY |
7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
8 | // + www.MikroKopter.com |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
10 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
11 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
22 | // + eindeutig als Ursprung verlinkt werden |
22 | // + eindeutig als Ursprung verlinkt werden |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
25 | // + Benutzung auf eigene Gefahr |
25 | // + Benutzung auf eigene Gefahr |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
28 | // + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
29 | // + mit unserer Zustimmung zulässig |
29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
31 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
32 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
33 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
34 | // + this list of conditions and the following disclaimer. |
34 | // + this list of conditions and the following disclaimer. |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
35 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
36 | // + from this software without specific prior written permission. |
36 | // + from this software without specific prior written permission. |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
37 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
38 | // + for non-commercial use (directly or indirectly) |
38 | // + for non-commercial use (directly or indirectly) |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
39 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
40 | // + with our written permission |
40 | // + with our written permission |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
41 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
42 | // + clearly linked as origin |
42 | // + clearly linked as origin |
43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
43 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
44 | // |
44 | // |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
45 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
46 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
47 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
48 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
49 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
50 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
51 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
52 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
53 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
54 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
55 | // + POSSIBILITY OF SUCH DAMAGE. |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
57 | #include <stdio.h> |
57 | #include <stdio.h> |
58 | #include <stdarg.h> |
58 | #include <stdarg.h> |
59 | #include "91x_lib.h" |
59 | #include "91x_lib.h" |
60 | #include "main.h" |
60 | #include "main.h" |
61 | #include "uart0.h" |
61 | #include "uart0.h" |
62 | #include "uart1.h" |
62 | #include "uart1.h" |
63 | #include "timer.h" |
63 | #include "timer.h" |
64 | #include "ubx.h" |
64 | #include "ubx.h" |
65 | #include "mkprotocol.h" |
65 | #include "mkprotocol.h" |
66 | 66 | ||
67 | u8 UART0_Request_VersionInfo = FALSE; |
67 | u8 UART0_Request_VersionInfo = FALSE; |
68 | u8 UART0_Request_NaviData = FALSE; |
68 | u8 UART0_Request_NaviData = FALSE; |
69 | u32 UART0_NaviData_Timer; |
69 | u32 UART0_NaviData_Timer; |
70 | u32 UART0_NaviData_Interval = 0; // in ms |
70 | u32 UART0_NaviData_Interval = 0; // in ms |
71 | //------------------------------------------------------------------------------------ |
71 | //------------------------------------------------------------------------------------ |
72 | // global variables |
72 | // global variables |
73 | 73 | ||
74 | #define UART0_BAUD_RATE 57600 //Baud Rate for the serial interfaces |
74 | #define UART0_BAUD_RATE 57600 //Baud Rate for the serial interfaces |
75 | // UART0 MUXER |
75 | // UART0 MUXER |
76 | UART0_MuxerState_t UART0_Muxer = UART0_UNDEF; |
76 | UART0_MuxerState_t UART0_Muxer = UART0_UNDEF; |
77 | u16 Uart0Baudrate = UART0_BAUD_RATE; |
77 | u16 Uart0Baudrate = UART0_BAUD_RATE; |
78 | u16 Uart0MK3MagBaudrate = UART0_BAUD_RATE; |
78 | u16 Uart0MK3MagBaudrate = UART0_BAUD_RATE; |
79 | 79 | ||
80 | // the tx buffer |
80 | // the tx buffer |
81 | #define UART0_TX_BUFFER_LEN 150 |
81 | #define UART0_TX_BUFFER_LEN 150 |
82 | u8 UART0_tbuffer[UART0_TX_BUFFER_LEN]; |
82 | u8 UART0_tbuffer[UART0_TX_BUFFER_LEN]; |
83 | Buffer_t UART0_tx_buffer; |
83 | Buffer_t UART0_tx_buffer; |
84 | 84 | ||
85 | // the rx buffer |
85 | // the rx buffer |
86 | #define UART0_RX_BUFFER_LEN 150 |
86 | #define UART0_RX_BUFFER_LEN 150 |
87 | u8 UART0_rbuffer[UART0_RX_BUFFER_LEN]; |
87 | u8 UART0_rbuffer[UART0_RX_BUFFER_LEN]; |
88 | Buffer_t UART0_rx_buffer; |
88 | Buffer_t UART0_rx_buffer; |
89 | 89 | ||
90 | 90 | ||
91 | //------------------------------------------------------------------------------------ |
91 | //------------------------------------------------------------------------------------ |
92 | // functions |
92 | // functions |
93 | 93 | ||
94 | /********************************************************/ |
94 | /********************************************************/ |
95 | /* Connect RXD & TXD to GPS */ |
95 | /* Connect RXD & TXD to GPS */ |
96 | /********************************************************/ |
96 | /********************************************************/ |
97 | void UART0_Connect_to_MKGPS(void) |
97 | void UART0_Connect_to_MKGPS(void) |
98 | { |
98 | { |
99 | GPIO_InitTypeDef GPIO_InitStructure; |
99 | GPIO_InitTypeDef GPIO_InitStructure; |
100 | 100 | ||
101 | UART0_Muxer = UART0_UNDEF; |
101 | UART0_Muxer = UART0_UNDEF; |
102 | 102 | ||
103 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
103 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
104 | // unmap UART0 from Compass |
104 | // unmap UART0 from Compass |
105 | // set port pin 5.1 (serial data from compass) to input and disconnect from IP |
105 | // set port pin 5.1 (serial data from compass) to input and disconnect from IP |
106 | GPIO_StructInit(&GPIO_InitStructure); |
106 | GPIO_StructInit(&GPIO_InitStructure); |
107 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
107 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
108 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
108 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
109 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
109 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
110 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
110 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
111 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
111 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
112 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
112 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
113 | // set port pin 5.0 (serial data to compass) to input |
113 | // set port pin 5.0 (serial data to compass) to input |
114 | GPIO_StructInit(&GPIO_InitStructure); |
114 | GPIO_StructInit(&GPIO_InitStructure); |
115 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
115 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
116 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
116 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
117 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
117 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
118 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
118 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
119 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
119 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
120 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
120 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
121 | // map UART0 to GPS |
121 | // map UART0 to GPS |
122 | // set port pin 6.6 (serial data from gps) to input and connect to IP |
122 | // set port pin 6.6 (serial data from gps) to input and connect to IP |
123 | GPIO_StructInit(&GPIO_InitStructure); |
123 | GPIO_StructInit(&GPIO_InitStructure); |
124 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
124 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
125 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
125 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
126 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
126 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
127 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
127 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
128 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
128 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
129 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
129 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
130 | // set port pin 6.7 (serial data to gps) to output |
130 | // set port pin 6.7 (serial data to gps) to output |
131 | GPIO_StructInit(&GPIO_InitStructure); |
131 | GPIO_StructInit(&GPIO_InitStructure); |
132 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
132 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
133 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
133 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
134 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
134 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
135 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
135 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
136 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
136 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
137 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
137 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
138 | 138 | ||
139 | UART0_Muxer = UART0_MKGPS; |
139 | UART0_Muxer = UART0_MKGPS; |
140 | } |
140 | } |
141 | 141 | ||
142 | /********************************************************/ |
142 | /********************************************************/ |
143 | /* Connect RXD & TXD to MK3MAG */ |
143 | /* Connect RXD & TXD to MK3MAG */ |
144 | /********************************************************/ |
144 | /********************************************************/ |
145 | void UART0_Connect_to_MK3MAG(void) |
145 | void UART0_Connect_to_MK3MAG(void) |
146 | { |
146 | { |
147 | GPIO_InitTypeDef GPIO_InitStructure; |
147 | GPIO_InitTypeDef GPIO_InitStructure; |
148 | 148 | ||
149 | UART0_Muxer = UART0_UNDEF; |
149 | UART0_Muxer = UART0_UNDEF; |
150 | 150 | ||
151 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
151 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
152 | // unmap UART0 from GPS |
152 | // unmap UART0 from GPS |
153 | // set port pin 6.6 (serial data from gps) to input and disconnect from IP |
153 | // set port pin 6.6 (serial data from gps) to input and disconnect from IP |
154 | GPIO_StructInit(&GPIO_InitStructure); |
154 | GPIO_StructInit(&GPIO_InitStructure); |
155 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
155 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
156 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
156 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
157 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
157 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
158 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
158 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
159 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
159 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
160 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
160 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
161 | // set port pin 6.7 (serial data to gps) to input |
161 | // set port pin 6.7 (serial data to gps) to input |
162 | GPIO_StructInit(&GPIO_InitStructure); |
162 | GPIO_StructInit(&GPIO_InitStructure); |
163 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
163 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
164 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
164 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
165 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
165 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
166 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
166 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
167 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
167 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
168 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
168 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
169 | 169 | ||
170 | // map UART0 to Compass |
170 | // map UART0 to Compass |
171 | // set port pin 5.1 (serial data from compass) to input and connect to IP |
171 | // set port pin 5.1 (serial data from compass) to input and connect to IP |
172 | GPIO_StructInit(&GPIO_InitStructure); |
172 | GPIO_StructInit(&GPIO_InitStructure); |
173 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
173 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
174 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
174 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
175 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
175 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
176 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
176 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
177 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
177 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
178 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
178 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
179 | // set port pin 5.0 (serial data to compass) to output |
179 | // set port pin 5.0 (serial data to compass) to output |
180 | GPIO_StructInit(&GPIO_InitStructure); |
180 | GPIO_StructInit(&GPIO_InitStructure); |
181 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
181 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
182 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
182 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
183 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
183 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
184 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
184 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
185 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
185 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
186 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
186 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
187 | 187 | ||
188 | UART0_Muxer = UART0_MK3MAG; |
188 | UART0_Muxer = UART0_MK3MAG; |
189 | } |
189 | } |
190 | 190 | ||
191 | /********************************************************/ |
191 | /********************************************************/ |
192 | /* Initialize UART0 */ |
192 | /* Initialize UART0 */ |
193 | /********************************************************/ |
193 | /********************************************************/ |
194 | void UART0_Init(void) |
194 | void UART0_Init(void) |
195 | { |
195 | { |
196 | UART_InitTypeDef UART_InitStructure; |
196 | UART_InitTypeDef UART_InitStructure; |
197 | 197 | ||
198 | UART1_PutString("\r\n UART0 init..."); |
198 | UART1_PutString("\r\n UART0 init..."); |
199 | 199 | ||
200 | SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART0 Clock |
200 | SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART0 Clock |
201 | 201 | ||
202 | Uart0Baudrate = UART0_BAUD_RATE + ((UART0_BAUD_RATE * 2)/100); // MK3Mag baudrate is a litlle bit higher... |
202 | Uart0Baudrate = UART0_BAUD_RATE + ((UART0_BAUD_RATE * 2)/100); // MK3Mag baudrate is a litlle bit higher... |
203 | 203 | ||
204 | /* UART0 configured as follow: |
204 | /* UART0 configured as follow: |
205 | - Word Length = 8 Bits |
205 | - Word Length = 8 Bits |
206 | - One Stop Bit |
206 | - One Stop Bit |
207 | - No parity |
207 | - No parity |
208 | - BaudRate = 57600 baud |
208 | - BaudRate = 57600 baud |
209 | - Hardware flow control Disabled |
209 | - Hardware flow control Disabled |
210 | - Receive and transmit enabled |
210 | - Receive and transmit enabled |
211 | - Receive and transmit FIFOs are Disabled |
211 | - Receive and transmit FIFOs are Disabled |
212 | */ |
212 | */ |
213 | UART_StructInit(&UART_InitStructure); |
213 | UART_StructInit(&UART_InitStructure); |
214 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
214 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
215 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
215 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
216 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
216 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
217 | UART_InitStructure.UART_BaudRate = Uart0Baudrate; |
217 | UART_InitStructure.UART_BaudRate = Uart0Baudrate; |
218 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
218 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
219 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
219 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
220 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
220 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
221 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
221 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
222 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
222 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
223 | 223 | ||
224 | UART_DeInit(UART0); // reset uart 0 to default |
224 | UART_DeInit(UART0); // reset uart 0 to default |
225 | UART_Init(UART0, &UART_InitStructure); // initialize uart 0 |
225 | UART_Init(UART0, &UART_InitStructure); // initialize uart 0 |
226 | 226 | ||
227 | // enable uart 0 interrupts selective |
227 | // enable uart 0 interrupts selective |
228 | UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut /*| UART_IT_FrameError*/, ENABLE); |
228 | UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut /*| UART_IT_FrameError*/, ENABLE); |
229 | UART_Cmd(UART0, ENABLE); // enable uart 0 |
229 | UART_Cmd(UART0, ENABLE); // enable uart 0 |
230 | // configure the uart 0 interupt line as an IRQ with priority 10 (0 is highest) |
230 | // configure the uart 0 interupt line as an IRQ with priority 10 (0 is highest) |
231 | VIC_Config(UART0_ITLine, VIC_IRQ, 10); |
231 | VIC_Config(UART0_ITLine, VIC_IRQ, 10); |
232 | // enable the uart 0 IRQ |
232 | // enable the uart 0 IRQ |
233 | VIC_ITCmd(UART0_ITLine, ENABLE); |
233 | VIC_ITCmd(UART0_ITLine, ENABLE); |
234 | UART0_Connect_to_MKGPS(); |
234 | UART0_Connect_to_MKGPS(); |
235 | 235 | ||
236 | // initialize txd buffer |
236 | // initialize txd buffer |
237 | UART0_tx_buffer.pData = UART0_tbuffer; |
- | |
238 | UART0_tx_buffer.Size = UART0_TX_BUFFER_LEN; |
237 | Buffer_Init(&UART0_tx_buffer, UART0_tbuffer, UART0_TX_BUFFER_LEN); |
239 | UART0_tx_buffer.Position = 0; |
- | |
240 | UART0_tx_buffer.Locked = FALSE; |
- | |
241 | 238 | ||
242 | // initialize rxd buffer |
- | |
243 | UART0_rx_buffer.pData = UART0_rbuffer; |
239 | // initialize rxd buffer |
244 | UART0_rx_buffer.Size = UART0_RX_BUFFER_LEN; |
- | |
245 | UART0_rx_buffer.Position = 0; |
- | |
246 | UART0_rx_buffer.Locked = FALSE; |
240 | Buffer_Init(&UART0_rx_buffer, UART0_rbuffer, UART0_RX_BUFFER_LEN); |
247 | 241 | ||
248 | UART1_PutString("ok"); |
242 | UART1_PutString("ok"); |
249 | } |
243 | } |
250 | 244 | ||
251 | /********************************************************/ |
245 | /********************************************************/ |
252 | /* UART0 Interrupt Handler */ |
246 | /* UART0 Interrupt Handler */ |
253 | /********************************************************/ |
247 | /********************************************************/ |
254 | void UART0_IRQHandler(void) |
248 | void UART0_IRQHandler(void) |
255 | { |
249 | { |
256 | u8 c; |
250 | u8 c; |
257 | // if receive irq or receive timeout irq has occured |
251 | // if receive irq or receive timeout irq has occured |
258 | if((UART_GetITStatus(UART0, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART0, UART_IT_ReceiveTimeOut) != RESET) ) |
252 | if((UART_GetITStatus(UART0, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART0, UART_IT_ReceiveTimeOut) != RESET) ) |
259 | { |
253 | { |
260 | UART_ClearITPendingBit(UART0, UART_IT_Receive); // clear receive interrupt flag |
254 | UART_ClearITPendingBit(UART0, UART_IT_Receive); // clear receive interrupt flag |
261 | UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
255 | UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
262 | 256 | ||
263 | // if debug UART is UART0 |
257 | // if debug UART is UART0 |
264 | if (DebugUART == UART0) |
258 | if (DebugUART == UART0) |
265 | { // forward received data to the UART1 tx buffer |
259 | { // forward received data to the UART1 tx buffer |
266 | while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
260 | while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
267 | { |
261 | { |
268 | // wait for space in the tx buffer of the UART1 |
262 | // wait for space in the tx buffer of the UART1 |
269 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {}; |
263 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {}; |
270 | // move the byte from the rx buffer of UART0 to the tx buffer of UART1 |
264 | // move the byte from the rx buffer of UART0 to the tx buffer of UART1 |
271 | UART_SendData(UART1, UART_ReceiveData(UART0)); |
265 | UART_SendData(UART1, UART_ReceiveData(UART0)); |
272 | } |
266 | } |
273 | } |
267 | } |
274 | else // UART0 is not the DebugUART (normal operation) |
268 | else // UART0 is not the DebugUART (normal operation) |
275 | { |
269 | { |
276 | // repeat until no byte is in the RxFIFO |
270 | // repeat until no byte is in the RxFIFO |
277 | while (UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
271 | while (UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
278 | { |
272 | { |
279 | c = UART_ReceiveData(UART0); // get byte from rx fifo |
273 | c = UART_ReceiveData(UART0); // get byte from rx fifo |
280 | switch(UART0_Muxer) |
274 | switch(UART0_Muxer) |
281 | { |
275 | { |
282 | case UART0_MKGPS: |
276 | case UART0_MKGPS: |
283 | UBX_Parser(c); // if connected to GPS forward byte to ubx parser |
277 | UBX_Parser(c); // if connected to GPS forward byte to ubx parser |
284 | MKProtocol_CollectSerialFrame(&UART0_rx_buffer, c); // ckeck for MK-Frames also |
278 | MKProtocol_CollectSerialFrame(&UART0_rx_buffer, c); // ckeck for MK-Frames also |
285 | break; |
279 | break; |
286 | case UART0_MK3MAG: |
280 | case UART0_MK3MAG: |
287 | // ignore any byte send from MK3MAG |
281 | // ignore any byte send from MK3MAG |
288 | break; |
282 | break; |
289 | case UART0_UNDEF: |
283 | case UART0_UNDEF: |
290 | default: |
284 | default: |
291 | // ignore the byte from unknown source |
285 | // ignore the byte from unknown source |
292 | break; |
286 | break; |
293 | } // eof switch(UART0_Muxer) |
287 | } // eof switch(UART0_Muxer) |
294 | } // eof while |
288 | } // eof while |
295 | } // eof UART0 is not the DebugUART |
289 | } // eof UART0 is not the DebugUART |
296 | } // eof receive irq or receive timeout irq |
290 | } // eof receive irq or receive timeout irq |
297 | } |
291 | } |
298 | 292 | ||
299 | /**************************************************************/ |
293 | /**************************************************************/ |
300 | /* Process incomming data from debug uart */ |
294 | /* Process incomming data from debug uart */ |
301 | /**************************************************************/ |
295 | /**************************************************************/ |
302 | void UART0_ProcessRxData(void) |
296 | void UART0_ProcessRxData(void) |
303 | { |
297 | { |
304 | SerialMsg_t SerialMsg; |
298 | SerialMsg_t SerialMsg; |
305 | // if data in the rxd buffer are not locked immediately return |
299 | // if data in the rxd buffer are not locked immediately return |
306 | if((UART0_rx_buffer.Locked == FALSE) || (DebugUART == UART0) ) return; |
300 | if((UART0_rx_buffer.Locked == FALSE) || (DebugUART == UART0) ) return; |
307 | 301 | ||
308 | MKProtocol_DecodeSerialFrame(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
302 | MKProtocol_DecodeSerialFrame(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
309 | 303 | ||
310 | switch(SerialMsg.Address) // check for Slave Address |
304 | switch(SerialMsg.Address) // check for Slave Address |
311 | { |
305 | { |
312 | case NC_ADDRESS: // own Slave Address |
306 | case NC_ADDRESS: // own Slave Address |
313 | switch(SerialMsg.CmdID) |
307 | switch(SerialMsg.CmdID) |
314 | { |
308 | { |
315 | default: |
309 | default: |
316 | break; |
310 | break; |
317 | } // case NC_ADDRESS |
311 | } // case NC_ADDRESS |
318 | // "break;" is missing here to fall thru to the common commands |
312 | // "break;" is missing here to fall thru to the common commands |
319 | 313 | ||
320 | default: // and any other Slave Address |
314 | default: // and any other Slave Address |
321 | 315 | ||
322 | switch(SerialMsg.CmdID) // check CmdID |
316 | switch(SerialMsg.CmdID) // check CmdID |
323 | { |
317 | { |
324 | case 'o': // request for navigation information |
318 | case 'o': // request for navigation information |
325 | UART0_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
319 | UART0_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
326 | if(UART0_NaviData_Interval > 0) UART0_Request_NaviData = TRUE; |
320 | if(UART0_NaviData_Interval > 0) UART0_Request_NaviData = TRUE; |
327 | break; |
321 | break; |
328 | 322 | ||
329 | case 'v': // request for version info |
323 | case 'v': // request for version info |
330 | UART0_Request_VersionInfo = TRUE; |
324 | UART0_Request_VersionInfo = TRUE; |
331 | break; |
325 | break; |
332 | default: |
326 | default: |
333 | // unsupported command recieved |
327 | // unsupported command recieved |
334 | break; |
328 | break; |
335 | } |
329 | } |
336 | break; // default: |
330 | break; // default: |
337 | } |
331 | } |
338 | // unlock the rxd buffer after processing |
- | |
339 | UART0_rx_buffer.Position = 0; |
332 | Buffer_Clear(&UART0_rx_buffer); |
340 | UART0_rx_buffer.Locked = FALSE; |
- | |
341 | } |
333 | } |
342 | 334 | ||
343 | /**************************************************************/ |
335 | /**************************************************************/ |
344 | /* Transmit tx buffer via uart0 */ |
336 | /* Transmit tx buffer via uart0 */ |
345 | /**************************************************************/ |
337 | /**************************************************************/ |
346 | void UART0_Transmit(void) |
338 | void UART0_Transmit(void) |
347 | { |
339 | { |
348 | u8 tmp_tx; |
340 | u8 tmp_tx; |
349 | if(DebugUART == UART0) return; // no data output if debug uart is rederected to UART0 |
341 | if(DebugUART == UART0) return; // no data output if debug uart is rederected to UART0 |
350 | // if something has to be send and the txd fifo is not full |
342 | // if something has to be send and the txd fifo is not full |
351 | if((UART0_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART0, UART_FLAG_TxFIFOFull) == RESET)) |
343 | if((UART0_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART0, UART_FLAG_TxFIFOFull) == RESET)) |
352 | { |
344 | { |
353 | tmp_tx = UART0_tx_buffer.pData[UART0_tx_buffer.Position++]; // read next byte from txd buffer |
345 | tmp_tx = UART0_tx_buffer.pData[UART0_tx_buffer.Position++]; // read next byte from txd buffer |
354 | UART_SendData(UART0, tmp_tx); // put character to txd fifo |
346 | UART_SendData(UART0, tmp_tx); // put character to txd fifo |
355 | // if terminating character or end of txd buffer reached |
347 | // if terminating character or end of txd buffer reached |
356 | if((tmp_tx == '\r') || (UART0_tx_buffer.Position == UART0_tx_buffer.Size)) |
348 | if((tmp_tx == '\r') || (UART0_tx_buffer.Position == UART0_tx_buffer.Size)) |
357 | { |
349 | { |
358 | UART0_tx_buffer.Position = 0; // reset txd buffer positon |
- | |
359 | UART0_tx_buffer.Locked = FALSE;// unlock tx buffer |
350 | Buffer_Clear(&UART0_tx_buffer); |
360 | } |
351 | } |
361 | } |
352 | } |
362 | } |
353 | } |
363 | 354 | ||
364 | 355 | ||
365 | /**************************************************************/ |
356 | /**************************************************************/ |
366 | /* Send the answers to incomming commands at the uart0 */ |
357 | /* Send the answers to incomming commands at the uart0 */ |
367 | /**************************************************************/ |
358 | /**************************************************************/ |
368 | void UART0_TransmitTxData(void) |
359 | void UART0_TransmitTxData(void) |
369 | { |
360 | { |
370 | if(DebugUART == UART0) return; |
361 | if(DebugUART == UART0) return; |
371 | UART0_Transmit(); // output pending bytes in tx buffer |
362 | UART0_Transmit(); // output pending bytes in tx buffer |
372 | if(UART0_tx_buffer.Locked == TRUE) return; |
363 | if(UART0_tx_buffer.Locked == TRUE) return; |
373 | 364 | ||
374 | if(( (UART0_NaviData_Interval && CheckDelay(UART0_NaviData_Timer) ) || UART0_Request_NaviData) && (UART0_tx_buffer.Locked == FALSE)) |
365 | if(( (UART0_NaviData_Interval && CheckDelay(UART0_NaviData_Timer) ) || UART0_Request_NaviData) && (UART0_tx_buffer.Locked == FALSE)) |
375 | { |
366 | { |
376 | NaviData.Errorcode = ErrorCode; |
367 | NaviData.Errorcode = ErrorCode; |
377 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
368 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
378 | UART0_NaviData_Timer = SetDelay(UART0_NaviData_Interval); |
369 | UART0_NaviData_Timer = SetDelay(UART0_NaviData_Interval); |
379 | UART0_Request_NaviData = FALSE; |
370 | UART0_Request_NaviData = FALSE; |
380 | } |
371 | } |
381 | UART0_Transmit(); // output pending bytes in tx buffer |
372 | UART0_Transmit(); // output pending bytes in tx buffer |
382 | } |
373 | } |
383 | 374 |