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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 / NON-COMMERCIAL USE ONLY |
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 oder Nutzung 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 the sources to other systems or using the software on other systems (except 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 "91x_lib.h" |
57 | #include "91x_lib.h" |
58 | #include "uart0.h" |
58 | #include "uart0.h" |
59 | #include "uart1.h" |
59 | #include "uart1.h" |
60 | #include "ubx.h" |
60 | #include "ubx.h" |
61 | #include <stdio.h> |
61 | #include <stdio.h> |
62 | #include <stdarg.h> |
62 | #include <stdarg.h> |
63 | 63 | ||
64 | //------------------------------------------------------------------------------------ |
64 | //------------------------------------------------------------------------------------ |
65 | // global variables |
65 | // global variables |
66 | 66 | ||
67 | 67 | ||
68 | // UART0 MUXER |
68 | // UART0 MUXER |
69 | 69 | ||
70 | UART0_MuxerState_t UART0_Muxer = UART0_UNDEF; |
70 | UART0_MuxerState_t UART0_Muxer = UART0_UNDEF; |
71 | u16 Uart0Baudrate = BAUD_RATE; |
71 | u16 Uart0Baudrate = BAUD_RATE; |
72 | u16 Uart0MK3MagBaudrate = BAUD_RATE; |
72 | u16 Uart0MK3MagBaudrate = BAUD_RATE; |
73 | 73 | ||
74 | volatile u8 txd_buffer0[TXD_BUFFER_LEN]; |
74 | volatile u8 txd_buffer0[TXD_BUFFER_LEN]; |
75 | volatile u8 txd_complete0 = TRUE; |
75 | volatile u8 txd_complete0 = TRUE; |
76 | static u16 ptr_txd_buffer0 = 0; |
76 | static u16 ptr_txd_buffer0 = 0; |
77 | 77 | ||
78 | //------------------------------------------------------------------------------------ |
78 | //------------------------------------------------------------------------------------ |
79 | // functions |
79 | // functions |
80 | 80 | ||
81 | /********************************************************/ |
81 | /********************************************************/ |
82 | /* Connect RXD & TXD to GPS */ |
82 | /* Connect RXD & TXD to GPS */ |
83 | /********************************************************/ |
83 | /********************************************************/ |
84 | void UART0_Connect_to_MKGPS(void) |
84 | void UART0_Connect_to_MKGPS(void) |
85 | { |
85 | { |
86 | GPIO_InitTypeDef GPIO_InitStructure; |
86 | GPIO_InitTypeDef GPIO_InitStructure; |
87 | 87 | ||
88 | UART0_Muxer = UART0_UNDEF; |
88 | UART0_Muxer = UART0_UNDEF; |
89 | 89 | ||
90 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
90 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
91 | // unmap UART0 from Compass |
91 | // unmap UART0 from Compass |
92 | // set port pin 5.1 (serial data from compass) to input and disconnect from IP |
92 | // set port pin 5.1 (serial data from compass) to input and disconnect from IP |
93 | GPIO_StructInit(&GPIO_InitStructure); |
93 | GPIO_StructInit(&GPIO_InitStructure); |
94 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
94 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
95 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
95 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
96 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
96 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
97 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
97 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
98 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
98 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
99 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
99 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
100 | // set port pin 5.0 (serial data to compass) to input |
100 | // set port pin 5.0 (serial data to compass) to input |
101 | GPIO_StructInit(&GPIO_InitStructure); |
101 | GPIO_StructInit(&GPIO_InitStructure); |
102 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
102 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
103 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
103 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
104 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
104 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
105 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
105 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
106 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
106 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
107 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
107 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
108 | // map UART0 to GPS |
108 | // map UART0 to GPS |
109 | // set port pin 6.6 (serial data from gps) to input and connect to IP |
109 | // set port pin 6.6 (serial data from gps) to input and connect to IP |
110 | GPIO_StructInit(&GPIO_InitStructure); |
110 | GPIO_StructInit(&GPIO_InitStructure); |
111 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
111 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
112 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
112 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
113 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
113 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
114 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
114 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
115 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
115 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
116 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
116 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
117 | // set port pin 6.7 (serial data to gps) to output |
117 | // set port pin 6.7 (serial data to gps) to output |
118 | GPIO_StructInit(&GPIO_InitStructure); |
118 | GPIO_StructInit(&GPIO_InitStructure); |
119 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
119 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
120 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
120 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
121 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
121 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
122 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
122 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
123 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
123 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
124 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
124 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
125 | 125 | ||
126 | UART0_Muxer = UART0_MKGPS; |
126 | UART0_Muxer = UART0_MKGPS; |
127 | } |
127 | } |
128 | 128 | ||
129 | /********************************************************/ |
129 | /********************************************************/ |
130 | /* Connect RXD & TXD to MK3MAG */ |
130 | /* Connect RXD & TXD to MK3MAG */ |
131 | /********************************************************/ |
131 | /********************************************************/ |
132 | void UART0_Connect_to_MK3MAG(void) |
132 | void UART0_Connect_to_MK3MAG(void) |
133 | { |
133 | { |
134 | GPIO_InitTypeDef GPIO_InitStructure; |
134 | GPIO_InitTypeDef GPIO_InitStructure; |
135 | 135 | ||
136 | UART0_Muxer = UART0_UNDEF; |
136 | UART0_Muxer = UART0_UNDEF; |
137 | 137 | ||
138 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
138 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
139 | // unmap UART0 from GPS |
139 | // unmap UART0 from GPS |
140 | // set port pin 6.6 (serial data from gps) to input and disconnect from IP |
140 | // set port pin 6.6 (serial data from gps) to input and disconnect from IP |
141 | GPIO_StructInit(&GPIO_InitStructure); |
141 | GPIO_StructInit(&GPIO_InitStructure); |
142 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
142 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
143 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
143 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
144 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
144 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
145 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
145 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
146 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
146 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
147 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
147 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
148 | // set port pin 6.7 (serial data to gps) to input |
148 | // set port pin 6.7 (serial data to gps) to input |
149 | GPIO_StructInit(&GPIO_InitStructure); |
149 | GPIO_StructInit(&GPIO_InitStructure); |
150 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
150 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
151 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
151 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
152 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
152 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
153 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
153 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
154 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
154 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
155 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
155 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
156 | 156 | ||
157 | // map UART0 to Compass |
157 | // map UART0 to Compass |
158 | // set port pin 5.1 (serial data from compass) to input and connect to IP |
158 | // set port pin 5.1 (serial data from compass) to input and connect to IP |
159 | GPIO_StructInit(&GPIO_InitStructure); |
159 | GPIO_StructInit(&GPIO_InitStructure); |
160 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
160 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
161 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
161 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
162 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
162 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
163 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
163 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
164 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
164 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
165 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
165 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
166 | // set port pin 5.0 (serial data to compass) to output |
166 | // set port pin 5.0 (serial data to compass) to output |
167 | GPIO_StructInit(&GPIO_InitStructure); |
167 | GPIO_StructInit(&GPIO_InitStructure); |
168 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
168 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
169 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
169 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
170 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
170 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
171 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
171 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
172 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
172 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
173 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
173 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
174 | 174 | ||
175 | UART0_Muxer = UART0_MK3MAG; |
175 | UART0_Muxer = UART0_MK3MAG; |
176 | } |
176 | } |
177 | 177 | ||
178 | /********************************************************/ |
178 | /********************************************************/ |
179 | /* Initialize UART0 */ |
179 | /* Initialize UART0 */ |
180 | /********************************************************/ |
180 | /********************************************************/ |
181 | void UART0_Init(void) |
181 | void UART0_Init(void) |
182 | { |
182 | { |
183 | UART_InitTypeDef UART_InitStructure; |
183 | UART_InitTypeDef UART_InitStructure; |
184 | 184 | ||
185 | SerialPutString("\r\n UART0 init..."); |
185 | SerialPutString("\r\n UART0 init..."); |
186 | 186 | ||
187 | SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART0 Clock |
187 | SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART0 Clock |
188 | 188 | ||
189 | Uart0Baudrate = BAUD_RATE + ((BAUD_RATE * 2)/100); // MK3Mag baudrate is a litlle bit higher... |
189 | Uart0Baudrate = BAUD_RATE + ((BAUD_RATE * 2)/100); // MK3Mag baudrate is a litlle bit higher... |
190 | 190 | ||
191 | /* UART0 configured as follow: |
191 | /* UART0 configured as follow: |
192 | - Word Length = 8 Bits |
192 | - Word Length = 8 Bits |
193 | - One Stop Bit |
193 | - One Stop Bit |
194 | - No parity |
194 | - No parity |
195 | - BaudRate = 57600 baud |
195 | - BaudRate = 57600 baud |
196 | - Hardware flow control Disabled |
196 | - Hardware flow control Disabled |
197 | - Receive and transmit enabled |
197 | - Receive and transmit enabled |
198 | - Receive and transmit FIFOs are Disabled |
198 | - Receive and transmit FIFOs are Disabled |
199 | */ |
199 | */ |
200 | UART_StructInit(&UART_InitStructure); |
200 | UART_StructInit(&UART_InitStructure); |
201 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
201 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
202 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
202 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
203 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
203 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
204 | UART_InitStructure.UART_BaudRate = Uart0Baudrate; |
204 | UART_InitStructure.UART_BaudRate = Uart0Baudrate; |
205 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
205 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
206 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
206 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
207 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
207 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
208 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
208 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
209 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
209 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
210 | 210 | ||
211 | UART_DeInit(UART0); // reset uart 0 to default |
211 | UART_DeInit(UART0); // reset uart 0 to default |
212 | UART_Init(UART0, &UART_InitStructure); // initialize uart 0 |
212 | UART_Init(UART0, &UART_InitStructure); // initialize uart 0 |
213 | 213 | ||
214 | // enable uart 0 interrupts selective |
214 | // enable uart 0 interrupts selective |
215 | UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut /*| UART_IT_FrameError*/, ENABLE); |
215 | UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut /*| UART_IT_FrameError*/, ENABLE); |
216 | UART_Cmd(UART0, ENABLE); // enable uart 0 |
216 | UART_Cmd(UART0, ENABLE); // enable uart 0 |
217 | // configure the uart 0 interupt line as an IRQ with priority 10 (0 is highest) |
217 | // configure the uart 0 interupt line as an IRQ with priority 10 (0 is highest) |
218 | VIC_Config(UART0_ITLine, VIC_IRQ, 10); |
218 | VIC_Config(UART0_ITLine, VIC_IRQ, 10); |
219 | // enable the uart 0 IRQ |
219 | // enable the uart 0 IRQ |
220 | VIC_ITCmd(UART0_ITLine, ENABLE); |
220 | VIC_ITCmd(UART0_ITLine, ENABLE); |
221 | UART0_Connect_to_MKGPS(); |
221 | UART0_Connect_to_MKGPS(); |
222 | SerialPutString("ok"); |
222 | SerialPutString("ok"); |
223 | } |
223 | } |
224 | 224 | ||
225 | /**************************************************************/ |
225 | /**************************************************************/ |
226 | /* Transmit tx buffer via debug uart */ |
226 | /* Transmit tx buffer via debug uart */ |
227 | /**************************************************************/ |
227 | /**************************************************************/ |
228 | void UART0_Transmit(void) |
228 | void UART0_Transmit(void) |
229 | { |
229 | { |
230 | u8 tmp_tx; |
230 | u8 tmp_tx; |
231 | // if something has to be send and the txd fifo is not full |
231 | // if something has to be send and the txd fifo is not full |
232 | if((!txd_complete0) && (UART_GetFlagStatus(UART0, UART_FLAG_TxFIFOFull) == RESET)) |
232 | if((!txd_complete0) && (UART_GetFlagStatus(UART0, UART_FLAG_TxFIFOFull) == RESET)) |
233 | { |
233 | { |
234 | tmp_tx = txd_buffer0[ptr_txd_buffer0]; // read byte from txd buffer |
234 | tmp_tx = txd_buffer0[ptr_txd_buffer0]; // read byte from txd buffer |
235 | // if terminating character or end of txd buffer reached |
235 | // if terminating character or end of txd buffer reached |
236 | if((tmp_tx == '\r') || (ptr_txd_buffer0 == TXD_BUFFER_LEN)) |
236 | if((tmp_tx == '\r') || (ptr_txd_buffer0 == TXD_BUFFER_LEN)) |
237 | { |
237 | { |
238 | ptr_txd_buffer0 = 0; // reset txd buffer pointer |
238 | ptr_txd_buffer0 = 0; // reset txd buffer pointer |
239 | txd_complete0 = TRUE;// set complete flag |
239 | txd_complete0 = TRUE;// set complete flag |
240 | } |
240 | } |
241 | UART_SendData(UART0, tmp_tx); // put character to txd fifo |
241 | UART_SendData(UART0, tmp_tx); // put character to txd fifo |
242 | // set pointer to next byte |
242 | // set pointer to next byte |
243 | ptr_txd_buffer0++; |
243 | ptr_txd_buffer0++; |
244 | } |
244 | } |
245 | } |
245 | } |
246 | 246 | ||
247 | /**************************************************************/ |
247 | /**************************************************************/ |
248 | /* Add CRC and initiate transmission via debug uart */ |
248 | /* Add CRC and initiate transmission via debug uart */ |
249 | /**************************************************************/ |
249 | /**************************************************************/ |
250 | void AddCRC0(u16 datalen) |
250 | void AddCRC0(u16 datalen) |
251 | { |
251 | { |
252 | u16 tmpCRC = 0, i; |
252 | u16 tmpCRC = 0, i; |
253 | for(i = 0; i < datalen; i++) |
253 | for(i = 0; i < datalen; i++) |
254 | { |
254 | { |
255 | tmpCRC += txd_buffer0[i]; |
255 | tmpCRC += txd_buffer0[i]; |
256 | } |
256 | } |
257 | tmpCRC %= 4096; |
257 | tmpCRC %= 4096; |
258 | txd_buffer0[i++] = '=' + tmpCRC / 64; |
258 | txd_buffer0[i++] = '=' + tmpCRC / 64; |
259 | txd_buffer0[i++] = '=' + tmpCRC % 64; |
259 | txd_buffer0[i++] = '=' + tmpCRC % 64; |
260 | txd_buffer0[i++] = '\r'; |
260 | txd_buffer0[i++] = '\r'; |
261 | 261 | ||
262 | ptr_txd_buffer0 = 0; |
262 | ptr_txd_buffer0 = 0; |
263 | txd_complete0 = FALSE; |
263 | txd_complete0 = FALSE; |
264 | UART_SendData(UART0, txd_buffer0[ptr_txd_buffer0++]); // send first byte, to be continued in the txd irq |
264 | UART_SendData(UART0, txd_buffer0[ptr_txd_buffer0++]); // send first byte, to be continued in the txd irq |
265 | } |
265 | } |
266 | 266 | ||
267 | 267 | ||
268 | 268 | ||
269 | /**************************************************************/ |
269 | /**************************************************************/ |
270 | /* Code output data */ |
270 | /* Code output data */ |
271 | /**************************************************************/ |
271 | /**************************************************************/ |
272 | void SendOutData0(u8 cmd, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, .... |
272 | void SendOutData0(u8 cmd, u8 Address, u8 numofbuffers , ...) //u8 *data, u8 len, .... |
273 | { |
273 | { |
274 | va_list ap; |
274 | va_list ap; |
275 | 275 | ||
276 | u16 pt = 0; |
276 | u16 pt = 0; |
277 | u8 a,b,c; |
277 | u8 a,b,c; |
278 | u8 ptr = 0; |
278 | u8 ptr = 0; |
279 | 279 | ||
280 | u8* pdata = NULL; |
280 | u8* pdata = NULL; |
281 | int len = 0; |
281 | int len = 0; |
282 | 282 | ||
283 | txd_buffer0[pt++] = '#'; // Start character |
283 | txd_buffer0[pt++] = '#'; // Start character |
284 | txd_buffer0[pt++] = 'a' + Address; // Address (a=0; b=1,...) |
284 | txd_buffer0[pt++] = 'a' + Address; // Address (a=0; b=1,...) |
285 | txd_buffer0[pt++] = cmd; // Command |
285 | txd_buffer0[pt++] = cmd; // Command |
286 | 286 | ||
287 | va_start(ap, numofbuffers); |
287 | va_start(ap, numofbuffers); |
288 | if(numofbuffers) |
288 | if(numofbuffers) |
289 | { |
289 | { |
290 | pdata = va_arg(ap, u8*); |
290 | pdata = va_arg(ap, u8*); |
291 | len = va_arg(ap, int); |
291 | len = va_arg(ap, int); |
292 | ptr = 0; |
292 | ptr = 0; |
293 | numofbuffers--; |
293 | numofbuffers--; |
294 | } |
294 | } |
295 | while(len) |
295 | while(len) |
296 | { |
296 | { |
297 | if(len) |
297 | if(len) |
298 | { |
298 | { |
299 | a = pdata[ptr++]; |
299 | a = pdata[ptr++]; |
300 | len--; |
300 | len--; |
301 | if((!len) && numofbuffers) // try to jump to next buffer |
301 | if((!len) && numofbuffers) // try to jump to next buffer |
302 | { |
302 | { |
303 | pdata = va_arg(ap, u8*); |
303 | pdata = va_arg(ap, u8*); |
304 | len = va_arg(ap, int); |
304 | len = va_arg(ap, int); |
305 | ptr = 0; |
305 | ptr = 0; |
306 | numofbuffers--; |
306 | numofbuffers--; |
307 | } |
307 | } |
308 | } |
308 | } |
309 | else a = 0; |
309 | else a = 0; |
310 | if(len) |
310 | if(len) |
311 | { |
311 | { |
312 | b = pdata[ptr++]; |
312 | b = pdata[ptr++]; |
313 | len--; |
313 | len--; |
314 | if((!len) && numofbuffers) // try to jump to next buffer |
314 | if((!len) && numofbuffers) // try to jump to next buffer |
315 | { |
315 | { |
316 | pdata = va_arg(ap, u8*); |
316 | pdata = va_arg(ap, u8*); |
317 | len = va_arg(ap, int); |
317 | len = va_arg(ap, int); |
318 | ptr = 0; |
318 | ptr = 0; |
319 | numofbuffers--; |
319 | numofbuffers--; |
320 | } |
320 | } |
321 | } |
321 | } |
322 | else b = 0; |
322 | else b = 0; |
323 | if(len) |
323 | if(len) |
324 | { |
324 | { |
325 | c = pdata[ptr++]; |
325 | c = pdata[ptr++]; |
326 | len--; |
326 | len--; |
327 | if((!len) && numofbuffers) // try to jump to next buffer |
327 | if((!len) && numofbuffers) // try to jump to next buffer |
328 | { |
328 | { |
329 | pdata = va_arg(ap, u8*); |
329 | pdata = va_arg(ap, u8*); |
330 | len = va_arg(ap, int); |
330 | len = va_arg(ap, int); |
331 | ptr = 0; |
331 | ptr = 0; |
332 | numofbuffers--; |
332 | numofbuffers--; |
333 | } |
333 | } |
334 | } |
334 | } |
335 | else c = 0; |
335 | else c = 0; |
336 | txd_buffer0[pt++] = '=' + (a >> 2); |
336 | txd_buffer0[pt++] = '=' + (a >> 2); |
337 | txd_buffer0[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
337 | txd_buffer0[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
338 | txd_buffer0[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
338 | txd_buffer0[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
339 | txd_buffer0[pt++] = '=' + ( c & 0x3f); |
339 | txd_buffer0[pt++] = '=' + ( c & 0x3f); |
340 | } |
340 | } |
341 | va_end(ap); |
341 | va_end(ap); |
342 | AddCRC0(pt); // add checksum after data block and initates the transmission |
342 | AddCRC0(pt); // add checksum after data block and initates the transmission |
343 | } |
343 | } |
344 | 344 | ||
345 | 345 | ||
346 | /********************************************************/ |
346 | /********************************************************/ |
347 | /* UART0 Interrupt Handler */ |
347 | /* UART0 Interrupt Handler */ |
348 | /********************************************************/ |
348 | /********************************************************/ |
349 | void UART0_IRQHandler(void) |
349 | void UART0_IRQHandler(void) |
350 | { |
350 | { |
351 | u8 c; |
351 | u8 c; |
352 | /* |
352 | /* |
353 | static u8 frame_error_cnt = 0; |
353 | static u8 frame_error_cnt = 0; |
354 | |
354 | |
355 | // use frame error to adjust baudrate for MK3MAG |
355 | // use frame error to adjust baudrate for MK3MAG |
356 | if((UART_GetITStatus(UART0, UART_IT_FrameError) == SET)) |
356 | if((UART_GetITStatus(UART0, UART_IT_FrameError) == SET)) |
357 | { |
357 | { |
358 | u8 msg[20]; |
358 | u8 msg[20]; |
359 | frame_error_cnt++; |
359 | frame_error_cnt++; |
360 | |
360 | |
361 | if (frame_error_cnt == 200) |
361 | if (frame_error_cnt == 200) |
362 | { |
362 | { |
363 | frame_error_cnt = 0; |
363 | frame_error_cnt = 0; |
364 | VIC_ITCmd(UART0_ITLine, DISABLE); |
364 | VIC_ITCmd(UART0_ITLine, DISABLE); |
365 | |
365 | |
366 | Uart0MK3MagBaudrate +=100; |
366 | Uart0MK3MagBaudrate +=100; |
367 | if (Uart0MK3MagBaudrate > (BAUD_RATE+1000)) Uart0MK3MagBaudrate = BAUD_RATE; |
367 | if (Uart0MK3MagBaudrate > (BAUD_RATE+1000)) Uart0MK3MagBaudrate = BAUD_RATE; |
368 | |
368 | |
369 | Uart0Baudrate = Uart0MK3MagBaudrate; |
369 | Uart0Baudrate = Uart0MK3MagBaudrate; |
370 | |
370 | |
371 | SerialPutString(" adjusting UART0 baudrate to"); |
371 | SerialPutString(" adjusting UART0 baudrate to"); |
372 | sprintf(msg, " %d baud...", Uart0MK3MagBaudrate); SerialPutString(msg); |
372 | sprintf(msg, " %d baud...", Uart0MK3MagBaudrate); SerialPutString(msg); |
373 | |
373 | |
374 | while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
374 | while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
375 | { |
375 | { |
376 | c = UART_ReceiveData(UART0); |
376 | c = UART_ReceiveData(UART0); |
377 | } |
377 | } |
378 | |
378 | |
379 | UART_ClearITPendingBit(UART0, UART_IT_FrameError); // clear frame error interrupt flag |
379 | UART_ClearITPendingBit(UART0, UART_IT_FrameError); // clear frame error interrupt flag |
380 | |
380 | |
381 | UART0_Init(); |
381 | UART0_Init(); |
382 | return; |
382 | return; |
383 | } |
383 | } |
384 | |
384 | |
385 | }*/ |
385 | }*/ |
386 | // if receive irq or receive timeout irq has occured |
386 | // if receive irq or receive timeout irq has occured |
387 | if((UART_GetITStatus(UART0, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART0, UART_IT_ReceiveTimeOut) != RESET) ) |
387 | if((UART_GetITStatus(UART0, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART0, UART_IT_ReceiveTimeOut) != RESET) ) |
388 | { |
388 | { |
389 | UART_ClearITPendingBit(UART0, UART_IT_Receive); // clear receive interrupt flag |
389 | UART_ClearITPendingBit(UART0, UART_IT_Receive); // clear receive interrupt flag |
390 | UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
390 | UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
391 | 391 | ||
392 | // if debug UART is UART0 |
392 | // if debug UART is UART0 |
393 | if (DebugUART == UART0) |
393 | if (DebugUART == UART0) |
394 | { // forward received data to the UART1 tx buffer |
394 | { // forward received data to the UART1 tx buffer |
395 | while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
395 | while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
396 | { |
396 | { |
397 | // wait for space in the tx buffer of the UART1 |
397 | // wait for space in the tx buffer of the UART1 |
398 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {}; |
398 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {}; |
399 | // move the byte from the rx buffer of UART0 to the tx buffer of UART1 |
399 | // move the byte from the rx buffer of UART0 to the tx buffer of UART1 |
400 | UART_SendData(UART1, UART_ReceiveData(UART0)); |
400 | UART_SendData(UART1, UART_ReceiveData(UART0)); |
401 | } |
401 | } |
402 | } |
402 | } |
403 | else // UART0 is not the DebugUART (normal operation) |
403 | else // UART0 is not the DebugUART (normal operation) |
404 | { |
404 | { |
405 | // repeat until no byte is in the RxFIFO |
405 | // repeat until no byte is in the RxFIFO |
406 | while (UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
406 | while (UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
407 | { |
407 | { |
408 | c = UART_ReceiveData(UART0); // get byte from rx fifo |
408 | c = UART_ReceiveData(UART0); // get byte from rx fifo |
409 | switch(UART0_Muxer) |
409 | switch(UART0_Muxer) |
410 | { |
410 | { |
411 | case UART0_MKGPS: |
411 | case UART0_MKGPS: |
412 | UBX_Parser(c); // if connected to GPS forward byte to ubx parser |
412 | UBX_Parser(c); // if connected to GPS forward byte to ubx parser |
413 | break; |
413 | break; |
414 | case UART0_MK3MAG: |
414 | case UART0_MK3MAG: |
415 | // ignore any byte send from MK3MAG |
415 | // ignore any byte send from MK3MAG |
416 | break; |
416 | break; |
417 | case UART0_UNDEF: |
417 | case UART0_UNDEF: |
418 | default: |
418 | default: |
419 | // ignore the byte from unknown source |
419 | // ignore the byte from unknown source |
420 | break; |
420 | break; |
421 | } // eof switch(UART0_Muxer) |
421 | } // eof switch(UART0_Muxer) |
422 | } // eof while |
422 | } // eof while |
423 | } // eof UART0 is not the DebugUART |
423 | } // eof UART0 is not the DebugUART |
424 | } // eof receive irq or receive timeout irq |
424 | } // eof receive irq or receive timeout irq |
425 | } |
425 | } |
426 | 426 |