WebSVN - NaviCtrl - Diff - Rev 171 and 190


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//#include <stdio.h>
#include "91x_lib.h"
#include "config.h"
#include "uart1.h"
#include "mkprotocol.h"
 
// the tx buffer
#define UART2_TX_BUFFER_LEN  150
u8 UART2_tbuffer[UART2_TX_BUFFER_LEN];
Buffer_t UART2_tx_buffer;
 
/********************************************************/
/*                  Initialize UART2                    */
/********************************************************/
void UART2_Init(void)
{
    UART_InitTypeDef UART_InitStructure;
        GPIO_InitTypeDef GPIO_InitStructure;
 
        UART1_PutString("\r\n UART2 init...");
 
        // initialize txd buffer
        Buffer_Init(&UART2_tx_buffer, UART2_tbuffer, UART2_TX_BUFFER_LEN);
 
        SCU_APBPeriphClockConfig(__UART2, ENABLE);  // Enable the UART2 Clock
 
        SCU_APBPeriphClockConfig(__GPIO5, ENABLE);  // Enable the GPIO5 Clock
    /*Configure UART2_Rx pin GPIO5.2*/
        GPIO_StructInit(&GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;
    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_2;
    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull;
    GPIO_InitStructure.GPIO_IPConnected =       GPIO_IPConnected_Enable;
    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1; // UART2_RxD
    GPIO_Init(GPIO5, &GPIO_InitStructure);
 
        SCU_APBPeriphClockConfig(__GPIO3, ENABLE);  // Enable the GPIO3 Clock
    /*Configure UART2_Tx pin GPIO3.0*/
        GPIO_StructInit(&GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Direction =     GPIO_PinOutput;
    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_0;
    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull;
    GPIO_InitStructure.GPIO_Alternate =         GPIO_OutputAlt2; // UART2_TX
    GPIO_Init(GPIO3, &GPIO_InitStructure);
 
 
        /* UART2 configured as follow:
          - Word Length = 8 Bits
          - One Stop Bit
          - No parity
          - BaudRate = 57600 baud
          - Hardware flow control Disabled
          - Receive and transmit enabled
          - Receive and transmit FIFOs are Disabled
    */
        UART_StructInit(&UART_InitStructure);
    UART_InitStructure.UART_WordLength =                        UART_WordLength_8D;
    UART_InitStructure.UART_StopBits =                          UART_StopBits_1;
    UART_InitStructure.UART_Parity =                            UART_Parity_No ;
    UART_InitStructure.UART_BaudRate =                          UART2_BAUD_RATE;
    UART_InitStructure.UART_HardwareFlowControl =       UART_HardwareFlowControl_None;
    UART_InitStructure.UART_Mode =                                      UART_Mode_Tx_Rx;
    UART_InitStructure.UART_FIFO =                                      UART_FIFO_Enable;
    UART_InitStructure.UART_TxFIFOLevel =                       UART_FIFOLevel_1_2;
    UART_InitStructure.UART_RxFIFOLevel =                       UART_FIFOLevel_1_2;
 
        UART_DeInit(UART2);     // reset uart 2 to default
    UART_Init(UART2, &UART_InitStructure);  // initialize uart 2
 
        // enable uart 2 interrupts selective
    UART_ITConfig(UART2, UART_IT_Receive | UART_IT_ReceiveTimeOut, ENABLE);
        UART_Cmd(UART2, ENABLE); // enable uart 2
        // configure the uart 2 interupt line
        VIC_Config(UART2_ITLine, VIC_IRQ, PRIORITY_UART2);
        // enable the uart 2 IRQ
        VIC_ITCmd(UART2_ITLine, ENABLE);
 
        UART1_PutString("ok");
}
 
 
void UART2_Deinit(void)
{
        GPIO_InitTypeDef GPIO_InitStructure;
 
        UART1_PutString("\r\n UART2 deinit...");
        VIC_ITCmd(UART2_ITLine, DISABLE); // disable the uart 2 IRQ
        UART_Cmd(UART2, DISABLE); // disable uart 2
        UART_DeInit(UART2);     // reset uart 0 to default
 
        SCU_APBPeriphClockConfig(__UART2, DISABLE);  // disable the UART2 Clock
 
        SCU_APBPeriphClockConfig(__GPIO5, ENABLE);
        // unmap UART2 from FC
        // set port pin 5.2 (serial data from FC) to input and disconnect from IP
        GPIO_StructInit(&GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;
    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_2;
    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull;
    GPIO_InitStructure.GPIO_IPConnected =       GPIO_IPConnected_Disable;
    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1;
    GPIO_Init(GPIO5, &GPIO_InitStructure);
 
        SCU_APBPeriphClockConfig(__GPIO3, ENABLE);
        // set port pin 3.0 (serial data to FC) to input and disconnect from IP
        GPIO_StructInit(&GPIO_InitStructure);
        GPIO_InitStructure.GPIO_Direction =     GPIO_PinInput;
    GPIO_InitStructure.GPIO_Pin =                       GPIO_Pin_0;
    GPIO_InitStructure.GPIO_Type =                      GPIO_Type_PushPull;
        GPIO_InitStructure.GPIO_IPConnected =   GPIO_IPConnected_Disable;
    GPIO_InitStructure.GPIO_Alternate =         GPIO_InputAlt1;
    GPIO_Init(GPIO3, &GPIO_InitStructure);
 
        UART1_PutString("ok");
}
 
/********************************************************/
/*            UART2 Interrupt Handler                   */
/********************************************************/
void UART2_IRQHandler(void)
{
        // if receive irq or receive timeout irq has occured
        if((UART_GetITStatus(UART2, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART2, UART_IT_ReceiveTimeOut) != RESET) )
        {
                UART_ClearITPendingBit(UART2, UART_IT_Receive);                 // clear receive interrupt flag
                UART_ClearITPendingBit(UART2, UART_IT_ReceiveTimeOut);  // clear receive timeout interrupt flag
 
                // if debug UART is UART2
                if (DebugUART == UART2)
                {       // forward received data to the UART1 tx buffer
                        while(UART_GetFlagStatus(UART2, UART_FLAG_RxFIFOEmpty) != SET)
                        {
                                // wait for space in the tx buffer of the UART1
                                while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {};
                                // move the byte from the rx buffer of UART2 to the tx buffer of UART1
                                UART_SendData(UART1, UART_ReceiveData(UART2));
                        }
                }
                else
                {
                        // ignore serial data from the FC
                        while(UART_GetFlagStatus(UART2, UART_FLAG_RxFIFOEmpty) != SET)
                        {
                                UART_ReceiveData(UART2);
                        }
                }
        } // eof receive irq or receive timeout irq
}
 
/**************************************************************/
/*         Transmit tx buffer via uart2                       */
/**************************************************************/
void UART2_Transmit(void)
{
        u8 tmp_tx;
        if(DebugUART == UART2) return; // no data output if debug uart is rederected to UART2
        // if something has to be send and the txd fifo is not full
        if((UART2_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART2, UART_FLAG_TxFIFOFull) == RESET))
        {
                tmp_tx = UART2_tx_buffer.pData[UART2_tx_buffer.Position++]; // read next byte from txd buffer
                UART_SendData(UART2, tmp_tx); // put character to txd fifo
                // if terminating character or end of txd buffer reached
                if((tmp_tx == '\r') || (UART2_tx_buffer.Position == UART2_tx_buffer.Size))
                {
                        Buffer_Clear(&UART2_tx_buffer);
                }
        }
}
 
/**************************************************************/
/* Send the answers to incomming commands at the uart2        */
/**************************************************************/
void UART2_TransmitTxData(void)
{
        if(DebugUART == UART2) return;
        UART2_Transmit(); // output pending bytes in tx buffer
}
 
 
void UART2_ProcessRxData(void)
{
 
}
 
Subversion Repositories NaviCtrl

(root)/tags/V2.06d/uart2.c @ 897 - Rev 171 → 190
