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