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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 / NON-COMMERCIAL USE ONLY |
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 oder Nutzung 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 the sources to other systems or using the software on other systems (except 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 <stdio.h> |
57 | #include <stdio.h> |
58 | #include <stdarg.h> |
58 | #include <stdarg.h> |
59 | #include <string.h> |
59 | #include <string.h> |
60 | #include "91x_lib.h" |
60 | #include "91x_lib.h" |
61 | #include "config.h" |
61 | #include "config.h" |
62 | #include "main.h" |
62 | #include "main.h" |
63 | #include "uart0.h" |
63 | #include "uart0.h" |
64 | #include "uart1.h" |
64 | #include "uart1.h" |
65 | #include "timer1.h" |
65 | #include "timer1.h" |
66 | #include "ubx.h" |
66 | #include "ubx.h" |
67 | #include "mkprotocol.h" |
67 | #include "mkprotocol.h" |
68 | 68 | ||
69 | 69 | ||
70 | //------------------------------------------------------------------------------------ |
70 | //------------------------------------------------------------------------------------ |
71 | // global variables |
71 | // global variables |
72 | 72 | ||
73 | MKOSD_VersionInfo_t MKOSD_VersionInfo; |
73 | MKOSD_VersionInfo_t MKOSD_VersionInfo; |
74 | 74 | ||
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 | u8 UART0_Request_VersionInfo = FALSE; |
90 | u8 UART0_Request_VersionInfo = FALSE; |
91 | u8 UART0_Request_NaviData = FALSE; |
91 | u8 UART0_Request_NaviData = FALSE; |
92 | u8 UART0_Request_ErrorMessage = FALSE; |
92 | u8 UART0_Request_ErrorMessage = FALSE; |
93 | u32 UART0_NaviData_Timer; |
93 | u32 UART0_NaviData_Timer; |
94 | u32 UART0_NaviData_Interval = 0; // in ms |
94 | u32 UART0_NaviData_Interval = 0; // in ms |
95 | 95 | ||
96 | //------------------------------------------------------------------------------------ |
96 | //------------------------------------------------------------------------------------ |
97 | // functions |
97 | // functions |
98 | 98 | ||
99 | /********************************************************/ |
99 | /********************************************************/ |
100 | /* Connect RXD & TXD to GPS */ |
100 | /* Connect RXD & TXD to GPS */ |
101 | /********************************************************/ |
101 | /********************************************************/ |
102 | void UART0_Connect_to_MKGPS(void) |
102 | void UART0_Connect_to_MKGPS(void) |
103 | { |
103 | { |
104 | GPIO_InitTypeDef GPIO_InitStructure; |
104 | GPIO_InitTypeDef GPIO_InitStructure; |
105 | 105 | ||
106 | UART0_Muxer = UART0_UNDEF; |
106 | UART0_Muxer = UART0_UNDEF; |
107 | 107 | ||
108 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
108 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
109 | // unmap UART0 from Compass |
109 | // unmap UART0 from Compass |
110 | // set port pin 5.1 (serial data from compass) to input and disconnect from IP |
110 | // set port pin 5.1 (serial data from compass) to input and disconnect from IP |
111 | GPIO_StructInit(&GPIO_InitStructure); |
111 | GPIO_StructInit(&GPIO_InitStructure); |
112 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
112 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
113 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
113 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
114 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
114 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
115 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
115 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
116 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
116 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
117 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
117 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
118 | // set port pin 5.0 (serial data to compass) to input |
118 | // set port pin 5.0 (serial data to compass) to input |
119 | GPIO_StructInit(&GPIO_InitStructure); |
119 | GPIO_StructInit(&GPIO_InitStructure); |
120 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
120 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
121 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
121 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
122 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
122 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
123 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
123 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
124 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
124 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
125 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
125 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
126 | // map UART0 to GPS |
126 | // map UART0 to GPS |
127 | // set port pin 6.6 (serial data from gps) to input and connect to IP |
127 | // set port pin 6.6 (serial data from gps) to input and connect to IP |
128 | GPIO_StructInit(&GPIO_InitStructure); |
128 | GPIO_StructInit(&GPIO_InitStructure); |
129 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
129 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
130 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
130 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
131 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
131 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
132 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
132 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
133 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
133 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
134 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
134 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
135 | // set port pin 6.7 (serial data to gps) to output |
135 | // set port pin 6.7 (serial data to gps) to output |
136 | GPIO_StructInit(&GPIO_InitStructure); |
136 | GPIO_StructInit(&GPIO_InitStructure); |
137 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
137 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
138 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
138 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
139 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
139 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
140 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
140 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
141 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
141 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
142 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
142 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
143 | 143 | ||
144 | UART0_Muxer = UART0_MKGPS; |
144 | UART0_Muxer = UART0_MKGPS; |
145 | } |
145 | } |
146 | 146 | ||
147 | /********************************************************/ |
147 | /********************************************************/ |
148 | /* Connect RXD & TXD to MK3MAG */ |
148 | /* Connect RXD & TXD to MK3MAG */ |
149 | /********************************************************/ |
149 | /********************************************************/ |
150 | void UART0_Connect_to_MK3MAG(void) |
150 | void UART0_Connect_to_MK3MAG(void) |
151 | { |
151 | { |
152 | GPIO_InitTypeDef GPIO_InitStructure; |
152 | GPIO_InitTypeDef GPIO_InitStructure; |
153 | 153 | ||
154 | UART0_Muxer = UART0_UNDEF; |
154 | UART0_Muxer = UART0_UNDEF; |
155 | 155 | ||
156 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
156 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
157 | // unmap UART0 from GPS |
157 | // unmap UART0 from GPS |
158 | // set port pin 6.6 (serial data from gps) to input and disconnect from IP |
158 | // set port pin 6.6 (serial data from gps) to input and disconnect from 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_6; |
161 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
162 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
162 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
163 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
163 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
164 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
164 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
165 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
165 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
166 | // set port pin 6.7 (serial data to gps) to input |
166 | // set port pin 6.7 (serial data to gps) to input |
167 | GPIO_StructInit(&GPIO_InitStructure); |
167 | GPIO_StructInit(&GPIO_InitStructure); |
168 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
168 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
169 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
169 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
170 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
170 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
171 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Disable; |
171 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
172 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
172 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
173 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
173 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
174 | 174 | ||
175 | // map UART0 to Compass |
175 | // map UART0 to Compass |
176 | // set port pin 5.1 (serial data from compass) to input and connect to IP |
176 | // set port pin 5.1 (serial data from compass) to input and connect to IP |
177 | GPIO_StructInit(&GPIO_InitStructure); |
177 | GPIO_StructInit(&GPIO_InitStructure); |
178 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
178 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
179 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
179 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
180 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
180 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
181 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
181 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
182 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
182 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
183 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
183 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
184 | // set port pin 5.0 (serial data to compass) to output |
184 | // set port pin 5.0 (serial data to compass) to output |
185 | GPIO_StructInit(&GPIO_InitStructure); |
185 | GPIO_StructInit(&GPIO_InitStructure); |
186 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
186 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
187 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
187 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
188 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
188 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
189 | GPIO_InitStructure.GPIO_IPConnected = GPIO_IPConnected_Enable; |
189 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
190 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
190 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
191 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
191 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
192 | 192 | ||
193 | UART0_Muxer = UART0_MK3MAG; |
193 | UART0_Muxer = UART0_MK3MAG; |
194 | } |
194 | } |
195 | 195 | ||
196 | /********************************************************/ |
196 | /********************************************************/ |
197 | /* Initialize UART0 */ |
197 | /* Initialize UART0 */ |
198 | /********************************************************/ |
198 | /********************************************************/ |
199 | void UART0_Init(void) |
199 | void UART0_Init(void) |
200 | { |
200 | { |
201 | UART_InitTypeDef UART_InitStructure; |
201 | UART_InitTypeDef UART_InitStructure; |
202 | 202 | ||
203 | UART1_PutString("\r\n UART0 init..."); |
203 | UART1_PutString("\r\n UART0 init..."); |
204 | 204 | ||
205 | SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART0 Clock |
205 | SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART0 Clock |
206 | 206 | ||
207 | Uart0Baudrate = UART0_BAUD_RATE + ((UART0_BAUD_RATE * 2)/100); // MK3Mag baudrate is a litlle bit higher... |
207 | Uart0Baudrate = UART0_BAUD_RATE + ((UART0_BAUD_RATE * 2)/100); // MK3Mag baudrate is a litlle bit higher... |
208 | 208 | ||
209 | /* UART0 configured as follow: |
209 | /* UART0 configured as follow: |
210 | - Word Length = 8 Bits |
210 | - Word Length = 8 Bits |
211 | - One Stop Bit |
211 | - One Stop Bit |
212 | - No parity |
212 | - No parity |
213 | - BaudRate = 57600 baud |
213 | - BaudRate = 57600 baud |
214 | - Hardware flow control Disabled |
214 | - Hardware flow control Disabled |
215 | - Receive and transmit enabled |
215 | - Receive and transmit enabled |
216 | - Receive and transmit FIFOs are Disabled |
216 | - Receive and transmit FIFOs are Disabled |
217 | */ |
217 | */ |
218 | UART_StructInit(&UART_InitStructure); |
218 | UART_StructInit(&UART_InitStructure); |
219 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
219 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
220 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
220 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
221 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
221 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
222 | UART_InitStructure.UART_BaudRate = Uart0Baudrate; |
222 | UART_InitStructure.UART_BaudRate = Uart0Baudrate; |
223 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
223 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
224 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
224 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
225 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
225 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
226 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
226 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
227 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
227 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
228 | 228 | ||
229 | UART_DeInit(UART0); // reset uart 0 to default |
229 | UART_DeInit(UART0); // reset uart 0 to default |
230 | UART_Init(UART0, &UART_InitStructure); // initialize uart 0 |
230 | UART_Init(UART0, &UART_InitStructure); // initialize uart 0 |
231 | 231 | ||
232 | // enable uart 0 interrupts selective |
232 | // enable uart 0 interrupts selective |
233 | UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut /*| UART_IT_FrameError*/, ENABLE); |
233 | UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut /*| UART_IT_FrameError*/, ENABLE); |
234 | UART_Cmd(UART0, ENABLE); // enable uart 0 |
234 | UART_Cmd(UART0, ENABLE); // enable uart 0 |
235 | // configure the uart 0 interupt line |
235 | // configure the uart 0 interupt line |
236 | VIC_Config(UART0_ITLine, VIC_IRQ, PRIORITY_UART0); |
236 | VIC_Config(UART0_ITLine, VIC_IRQ, PRIORITY_UART0); |
237 | // enable the uart 0 IRQ |
237 | // enable the uart 0 IRQ |
238 | VIC_ITCmd(UART0_ITLine, ENABLE); |
238 | VIC_ITCmd(UART0_ITLine, ENABLE); |
239 | UART0_Connect_to_MKGPS(); |
239 | UART0_Connect_to_MKGPS(); |
240 | 240 | ||
241 | // initialize txd buffer |
241 | // initialize txd buffer |
242 | Buffer_Init(&UART0_tx_buffer, UART0_tbuffer, UART0_TX_BUFFER_LEN); |
242 | Buffer_Init(&UART0_tx_buffer, UART0_tbuffer, UART0_TX_BUFFER_LEN); |
243 | 243 | ||
244 | // initialize rxd buffer |
244 | // initialize rxd buffer |
245 | Buffer_Init(&UART0_rx_buffer, UART0_rbuffer, UART0_RX_BUFFER_LEN); |
245 | Buffer_Init(&UART0_rx_buffer, UART0_rbuffer, UART0_RX_BUFFER_LEN); |
246 | 246 | ||
247 | UART1_PutString("ok"); |
247 | UART1_PutString("ok"); |
248 | } |
248 | } |
249 | 249 | ||
250 | /********************************************************/ |
250 | /********************************************************/ |
251 | /* UART0 Interrupt Handler */ |
251 | /* UART0 Interrupt Handler */ |
252 | /********************************************************/ |
252 | /********************************************************/ |
253 | void UART0_IRQHandler(void) |
253 | void UART0_IRQHandler(void) |
254 | { |
254 | { |
255 | u8 c; |
255 | u8 c; |
256 | // if receive irq (FIFO is over trigger level) or receive timeout irq (FIFO is not empty for longer times) has occured |
256 | // if receive irq (FIFO is over trigger level) or receive timeout irq (FIFO is not empty for longer times) has occured |
257 | if((UART_GetITStatus(UART0, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART0, UART_IT_ReceiveTimeOut) != RESET) ) |
257 | if((UART_GetITStatus(UART0, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART0, UART_IT_ReceiveTimeOut) != RESET) ) |
258 | { |
258 | { |
259 | UART_ClearITPendingBit(UART0, UART_IT_Receive); // clear receive interrupt flag |
259 | UART_ClearITPendingBit(UART0, UART_IT_Receive); // clear receive interrupt flag |
260 | UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
260 | UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
261 | 261 | ||
262 | // if debug UART is UART0 |
262 | // if debug UART is UART0 |
263 | if (DebugUART == UART0) |
263 | if (DebugUART == UART0) |
264 | { // forward received data to the UART1 tx buffer |
264 | { // forward received data to the UART1 tx buffer |
265 | while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
265 | while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
266 | { |
266 | { |
267 | // wait for space in the tx buffer of the UART1 |
267 | // wait for space in the tx buffer of the UART1 |
268 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {}; |
268 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {}; |
269 | // move the byte from the rx buffer of UART0 to the tx buffer of UART1 |
269 | // move the byte from the rx buffer of UART0 to the tx buffer of UART1 |
270 | UART_SendData(UART1, UART_ReceiveData(UART0)); |
270 | UART_SendData(UART1, UART_ReceiveData(UART0)); |
271 | } |
271 | } |
272 | } |
272 | } |
273 | else // UART0 is not the DebugUART (normal operation) |
273 | else // UART0 is not the DebugUART (normal operation) |
274 | { |
274 | { |
275 | // repeat until no byte is in the RxFIFO |
275 | // repeat until no byte is in the RxFIFO |
276 | while (UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
276 | while (UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
277 | { |
277 | { |
278 | c = UART_ReceiveData(UART0); // get byte from rx fifo |
278 | c = UART_ReceiveData(UART0); // get byte from rx fifo |
279 | switch(UART0_Muxer) |
279 | switch(UART0_Muxer) |
280 | { |
280 | { |
281 | case UART0_MKGPS: |
281 | case UART0_MKGPS: |
282 | UBX_Parser(c); // if connected to GPS forward byte to ubx parser |
282 | UBX_Parser(c); // if connected to GPS forward byte to ubx parser |
283 | MKProtocol_CollectSerialFrame(&UART0_rx_buffer, c); // ckeck for MK-Frames also |
283 | MKProtocol_CollectSerialFrame(&UART0_rx_buffer, c); // ckeck for MK-Frames also |
284 | break; |
284 | break; |
285 | case UART0_MK3MAG: |
285 | case UART0_MK3MAG: |
286 | // ignore any byte send from MK3MAG |
286 | // ignore any byte send from MK3MAG |
287 | break; |
287 | break; |
288 | case UART0_UNDEF: |
288 | case UART0_UNDEF: |
289 | default: |
289 | default: |
290 | // ignore the byte from unknown source |
290 | // ignore the byte from unknown source |
291 | break; |
291 | break; |
292 | } // eof switch(UART0_Muxer) |
292 | } // eof switch(UART0_Muxer) |
293 | } // eof while |
293 | } // eof while |
294 | } // eof UART0 is not the DebugUART |
294 | } // eof UART0 is not the DebugUART |
295 | } // eof receive irq or receive timeout irq |
295 | } // eof receive irq or receive timeout irq |
296 | } |
296 | } |
297 | 297 | ||
298 | /**************************************************************/ |
298 | /**************************************************************/ |
299 | /* Process incomming data from debug uart */ |
299 | /* Process incomming data from debug uart */ |
300 | /**************************************************************/ |
300 | /**************************************************************/ |
301 | void UART0_ProcessRxData(void) |
301 | void UART0_ProcessRxData(void) |
302 | { |
302 | { |
303 | SerialMsg_t SerialMsg; |
303 | SerialMsg_t SerialMsg; |
304 | // if data in the rxd buffer are not locked immediately return |
304 | // if data in the rxd buffer are not locked immediately return |
305 | if((UART0_rx_buffer.Locked == FALSE) || (DebugUART == UART0) ) return; |
305 | if((UART0_rx_buffer.Locked == FALSE) || (DebugUART == UART0) ) return; |
306 | 306 | ||
307 | MKProtocol_DecodeSerialFrameHeader(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
307 | MKProtocol_DecodeSerialFrameHeader(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
308 | MKProtocol_DecodeSerialFrameData(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
308 | MKProtocol_DecodeSerialFrameData(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
309 | 309 | ||
310 | switch(SerialMsg.Address) // check for Slave Address |
310 | switch(SerialMsg.Address) // check for Slave Address |
311 | { |
311 | { |
312 | case MKOSD_ADDRESS: // answers from the MKOSD |
312 | case MKOSD_ADDRESS: // answers from the MKOSD |
313 | switch(SerialMsg.CmdID) |
313 | switch(SerialMsg.CmdID) |
314 | { |
314 | { |
315 | case 'V': |
315 | case 'V': |
316 | memcpy(&MKOSD_VersionInfo, SerialMsg.pData, sizeof(MKOSD_VersionInfo)); // copy echo pattern |
316 | memcpy(&MKOSD_VersionInfo, SerialMsg.pData, sizeof(MKOSD_VersionInfo)); // copy echo pattern |
317 | break; |
317 | break; |
318 | default: |
318 | default: |
319 | break; |
319 | break; |
320 | } // case MKOSD_ADDRESS |
320 | } // case MKOSD_ADDRESS |
321 | break; |
321 | break; |
322 | 322 | ||
323 | case NC_ADDRESS: // own Slave Address |
323 | case NC_ADDRESS: // own Slave Address |
324 | switch(SerialMsg.CmdID) |
324 | switch(SerialMsg.CmdID) |
325 | { |
325 | { |
326 | case 'e': // request for the text of the error status |
326 | case 'e': // request for the text of the error status |
327 | UART0_Request_ErrorMessage = TRUE; |
327 | UART0_Request_ErrorMessage = TRUE; |
328 | break; |
328 | break; |
329 | case 'o': // request for navigation information |
329 | case 'o': // request for navigation information |
330 | UART0_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
330 | UART0_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
331 | if(UART0_NaviData_Interval > 0) UART0_Request_NaviData = TRUE; |
331 | if(UART0_NaviData_Interval > 0) UART0_Request_NaviData = TRUE; |
332 | break; |
332 | break; |
333 | default: |
333 | default: |
334 | break; |
334 | break; |
335 | } // case NC_ADDRESS |
335 | } // case NC_ADDRESS |
336 | // "break;" is missing here to fall thru to the common commands |
336 | // "break;" is missing here to fall thru to the common commands |
337 | 337 | ||
338 | default: // and any other Slave Address |
338 | default: // and any other Slave Address |
339 | switch(SerialMsg.CmdID) // check CmdID |
339 | switch(SerialMsg.CmdID) // check CmdID |
340 | { |
340 | { |
341 | case 'v': // request for version info |
341 | case 'v': // request for version info |
342 | UART0_Request_VersionInfo = TRUE; |
342 | UART0_Request_VersionInfo = TRUE; |
343 | break; |
343 | break; |
344 | default: |
344 | default: |
345 | // unsupported command recieved |
345 | // unsupported command recieved |
346 | break; |
346 | break; |
347 | } |
347 | } |
348 | break; // default: |
348 | break; // default: |
349 | } |
349 | } |
350 | Buffer_Clear(&UART0_rx_buffer); |
350 | Buffer_Clear(&UART0_rx_buffer); |
351 | } |
351 | } |
352 | 352 | ||
353 | /**************************************************************/ |
353 | /**************************************************************/ |
354 | /* Transmit tx buffer via uart0 */ |
354 | /* Transmit tx buffer via uart0 */ |
355 | /**************************************************************/ |
355 | /**************************************************************/ |
356 | void UART0_Transmit(void) |
356 | void UART0_Transmit(void) |
357 | { |
357 | { |
358 | u8 tmp_tx; |
358 | u8 tmp_tx; |
359 | 359 | ||
360 | IENABLE; |
360 | IENABLE; |
361 | 361 | ||
362 | if(DebugUART == UART0) return; // no data output if debug uart is rederected to UART0 |
362 | if(DebugUART == UART0) return; // no data output if debug uart is rederected to UART0 |
363 | // if something has to be send and the txd fifo is not full |
363 | // if something has to be send and the txd fifo is not full |
364 | if((UART0_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART0, UART_FLAG_TxFIFOFull) == RESET)) |
364 | if((UART0_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART0, UART_FLAG_TxFIFOFull) == RESET)) |
365 | { |
365 | { |
366 | tmp_tx = UART0_tx_buffer.pData[UART0_tx_buffer.Position++]; // read next byte from txd buffer |
366 | tmp_tx = UART0_tx_buffer.pData[UART0_tx_buffer.Position++]; // read next byte from txd buffer |
367 | UART_SendData(UART0, tmp_tx); // put character to txd fifo |
367 | UART_SendData(UART0, tmp_tx); // put character to txd fifo |
368 | // if terminating character or end of txd buffer reached |
368 | // if terminating character or end of txd buffer reached |
369 | if((tmp_tx == '\r') || (UART0_tx_buffer.Position == UART0_tx_buffer.Size)) |
369 | if((tmp_tx == '\r') || (UART0_tx_buffer.Position == UART0_tx_buffer.Size)) |
370 | { |
370 | { |
371 | Buffer_Clear(&UART0_tx_buffer); |
371 | Buffer_Clear(&UART0_tx_buffer); |
372 | } |
372 | } |
373 | } |
373 | } |
374 | 374 | ||
375 | IDISABLE; |
375 | IDISABLE; |
376 | } |
376 | } |
377 | 377 | ||
378 | 378 | ||
379 | /**************************************************************/ |
379 | /**************************************************************/ |
380 | /* Send the answers to incomming commands at the uart0 */ |
380 | /* Send the answers to incomming commands at the uart0 */ |
381 | /**************************************************************/ |
381 | /**************************************************************/ |
382 | void UART0_TransmitTxData(void) |
382 | void UART0_TransmitTxData(void) |
383 | { |
383 | { |
384 | if(DebugUART == UART0) return; |
384 | if(DebugUART == UART0) return; |
385 | UART0_Transmit(); // output pending bytes in tx buffer |
385 | UART0_Transmit(); // output pending bytes in tx buffer |
386 | if(UART0_tx_buffer.Locked == TRUE) return; |
386 | if(UART0_tx_buffer.Locked == TRUE) return; |
387 | 387 | ||
388 | else if(UART0_Request_ErrorMessage && (UART0_tx_buffer.Locked == FALSE)) |
388 | else if(UART0_Request_ErrorMessage && (UART0_tx_buffer.Locked == FALSE)) |
389 | { |
389 | { |
390 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
390 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
391 | UART0_Request_ErrorMessage = FALSE; |
391 | UART0_Request_ErrorMessage = FALSE; |
392 | } |
392 | } |
393 | else if(UART0_Request_VersionInfo && (UART0_tx_buffer.Locked == FALSE)) |
393 | else if(UART0_Request_VersionInfo && (UART0_tx_buffer.Locked == FALSE)) |
394 | { |
394 | { |
395 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
395 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
396 | UART0_Request_VersionInfo = FALSE; |
396 | UART0_Request_VersionInfo = FALSE; |
397 | } |
397 | } |
398 | else if(( ((UART0_NaviData_Interval >0) && CheckDelay(UART0_NaviData_Timer) ) || UART0_Request_NaviData) && (UART0_tx_buffer.Locked == FALSE)) |
398 | else if(( ((UART0_NaviData_Interval >0) && CheckDelay(UART0_NaviData_Timer) ) || UART0_Request_NaviData) && (UART0_tx_buffer.Locked == FALSE)) |
399 | { |
399 | { |
400 | NaviData.Errorcode = ErrorCode; |
400 | NaviData.Errorcode = ErrorCode; |
401 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
401 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
402 | UART0_NaviData_Timer = SetDelay(UART0_NaviData_Interval); |
402 | UART0_NaviData_Timer = SetDelay(UART0_NaviData_Interval); |
403 | UART0_Request_NaviData = FALSE; |
403 | UART0_Request_NaviData = FALSE; |
404 | } |
404 | } |
405 | UART0_Transmit(); // output pending bytes in tx buffer |
405 | UART0_Transmit(); // output pending bytes in tx buffer |
406 | } |
406 | } |
407 | 407 | ||
408 | 408 | ||
409 | /**************************************************************/ |
409 | /**************************************************************/ |
410 | /* Get the version of the MKOSD */ |
410 | /* Get the version of the MKOSD */ |
411 | /**************************************************************/ |
411 | /**************************************************************/ |
412 | void UART0_GetMKOSDVersion(void) |
412 | void UART0_GetMKOSDVersion(void) |
413 | { |
413 | { |
414 | u32 timeout; |
414 | u32 timeout; |
415 | u8 msg[64]; |
415 | u8 msg[64]; |
416 | 416 | ||
417 | MKOSD_VersionInfo.SWMajor = 0xFF; |
417 | MKOSD_VersionInfo.SWMajor = 0xFF; |
418 | MKOSD_VersionInfo.SWMinor = 0xFF; |
418 | MKOSD_VersionInfo.SWMinor = 0xFF; |
419 | MKOSD_VersionInfo.SWPatch = 0xFF; |
419 | MKOSD_VersionInfo.SWPatch = 0xFF; |
420 | 420 | ||
421 | if(UART0_Muxer != UART0_MKGPS) UART0_Connect_to_MKGPS(); |
421 | if(UART0_Muxer != UART0_MKGPS) UART0_Connect_to_MKGPS(); |
422 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
422 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
423 | 423 | ||
424 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'v', MKOSD_ADDRESS, 0); // request for version info |
424 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'v', MKOSD_ADDRESS, 0); // request for version info |
425 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
425 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
426 | 426 | ||
427 | timeout = SetDelay(500); |
427 | timeout = SetDelay(500); |
428 | do |
428 | do |
429 | { |
429 | { |
430 | UART0_ProcessRxData(); |
430 | UART0_ProcessRxData(); |
431 | if(MKOSD_VersionInfo.SWMajor != 0xFF) break; |
431 | if(MKOSD_VersionInfo.SWMajor != 0xFF) break; |
432 | }while(!CheckDelay(timeout)); |
432 | }while(!CheckDelay(timeout)); |
433 | 433 | ||
434 | if(MKOSD_VersionInfo.SWMajor != 0xFF) |
434 | if(MKOSD_VersionInfo.SWMajor != 0xFF) |
435 | { |
435 | { |
436 | sprintf(msg, "\n\r MK-OSD V%d.%d%c", MKOSD_VersionInfo.SWMajor, MKOSD_VersionInfo.SWMinor, 'a'+MKOSD_VersionInfo.SWPatch); |
436 | sprintf(msg, "\n\r MK-OSD V%d.%d%c", MKOSD_VersionInfo.SWMajor, MKOSD_VersionInfo.SWMinor, 'a'+MKOSD_VersionInfo.SWPatch); |
437 | UART1_PutString(msg); |
437 | UART1_PutString(msg); |
438 | } |
438 | } |
439 | //else UART1_PutString("\n\r No version information from MK-OSD."); |
439 | //else UART1_PutString("\n\r No version information from MK-OSD."); |
440 | } |
440 | } |
441 | 441 |