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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 200 |
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 200 |
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 | /* Configure uart 0 */ |
100 | /* Configure uart 0 */ |
101 | /********************************************************/ |
101 | /********************************************************/ |
102 | void UART0_Configure(u16 Baudrate) |
102 | void UART0_Configure(u16 Baudrate) |
103 | { |
103 | { |
104 | UART_InitTypeDef UART_InitStructure; |
104 | UART_InitTypeDef UART_InitStructure; |
105 | 105 | ||
106 | SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART0 Clock |
106 | SCU_APBPeriphClockConfig(__UART0, ENABLE); // Enable the UART0 Clock |
107 | 107 | ||
108 | /* UART0 configured as follow: |
108 | /* UART0 configured as follow: |
109 | - Word Length = 8 Bits |
109 | - Word Length = 8 Bits |
110 | - One Stop Bit |
110 | - One Stop Bit |
111 | - No parity |
111 | - No parity |
112 | - BaudRate taken from function argument |
112 | - BaudRate taken from function argument |
113 | - Hardware flow control Disabled |
113 | - Hardware flow control Disabled |
114 | - Receive and transmit enabled |
114 | - Receive and transmit enabled |
115 | - Receive and transmit FIFOs are Disabled |
115 | - Receive and transmit FIFOs are Disabled |
116 | */ |
116 | */ |
117 | UART_StructInit(&UART_InitStructure); |
117 | UART_StructInit(&UART_InitStructure); |
118 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
118 | UART_InitStructure.UART_WordLength = UART_WordLength_8D; |
119 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
119 | UART_InitStructure.UART_StopBits = UART_StopBits_1; |
120 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
120 | UART_InitStructure.UART_Parity = UART_Parity_No ; |
121 | UART_InitStructure.UART_BaudRate = Baudrate; |
121 | UART_InitStructure.UART_BaudRate = Baudrate; |
122 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
122 | UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None; |
123 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
123 | UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx; |
124 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
124 | UART_InitStructure.UART_FIFO = UART_FIFO_Enable; |
125 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
125 | UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2; |
126 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
126 | UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; |
127 | 127 | ||
128 | UART_DeInit(UART0); // reset uart 0 to default |
128 | UART_DeInit(UART0); // reset uart 0 to default |
129 | UART_Init(UART0, &UART_InitStructure); // initialize uart 0 |
129 | UART_Init(UART0, &UART_InitStructure); // initialize uart 0 |
130 | 130 | ||
131 | // enable uart 0 interrupts selective |
131 | // enable uart 0 interrupts selective |
132 | UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut /*| UART_IT_FrameError*/, ENABLE); |
132 | UART_ITConfig(UART0, UART_IT_Receive | UART_IT_ReceiveTimeOut /*| UART_IT_FrameError*/, ENABLE); |
133 | UART_Cmd(UART0, ENABLE); // enable uart 0 |
133 | UART_Cmd(UART0, ENABLE); // enable uart 0 |
134 | // configure the uart 0 interupt line |
134 | // configure the uart 0 interupt line |
135 | VIC_Config(UART0_ITLine, VIC_IRQ, PRIORITY_UART0); |
135 | VIC_Config(UART0_ITLine, VIC_IRQ, PRIORITY_UART0); |
136 | // enable the uart 0 IRQ |
136 | // enable the uart 0 IRQ |
137 | VIC_ITCmd(UART0_ITLine, ENABLE); |
137 | VIC_ITCmd(UART0_ITLine, ENABLE); |
138 | } |
138 | } |
139 | 139 | ||
140 | /********************************************************/ |
140 | /********************************************************/ |
141 | /* Connect RXD & TXD to GPS */ |
141 | /* Connect RXD & TXD to GPS */ |
142 | /********************************************************/ |
142 | /********************************************************/ |
143 | void UART0_Connect_to_MKGPS(u16 Baudrate) |
143 | void UART0_Connect_to_MKGPS(u16 Baudrate) |
144 | { |
144 | { |
145 | GPIO_InitTypeDef GPIO_InitStructure; |
145 | GPIO_InitTypeDef GPIO_InitStructure; |
146 | 146 | ||
147 | UART0_Muxer = UART0_UNDEF; |
147 | UART0_Muxer = UART0_UNDEF; |
148 | 148 | ||
149 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
149 | SCU_APBPeriphClockConfig(__GPIO6, ENABLE); // Enable the GPIO6 Clock |
150 | // unmap UART0 from Compass |
150 | // unmap UART0 from Compass |
151 | // set port pin 5.1 (serial data from compass) to input and disconnect from IP |
151 | // set port pin 5.1 (serial data from compass) to input and disconnect from IP |
152 | GPIO_StructInit(&GPIO_InitStructure); |
152 | GPIO_StructInit(&GPIO_InitStructure); |
153 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
153 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
154 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
154 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
155 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
155 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
156 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
156 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
157 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
157 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
158 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
158 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
159 | // set port pin 5.0 (serial data to compass) to input |
159 | // set port pin 5.0 (serial data to compass) to input |
160 | GPIO_StructInit(&GPIO_InitStructure); |
160 | GPIO_StructInit(&GPIO_InitStructure); |
161 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
161 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
162 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
162 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
163 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
163 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
164 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
164 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
165 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
165 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
166 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
166 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
167 | // map UART0 to GPS |
167 | // map UART0 to GPS |
168 | // set port pin 6.6 (serial data from gps) to input and connect to IP |
168 | // set port pin 6.6 (serial data from gps) to input and connect to IP |
169 | GPIO_StructInit(&GPIO_InitStructure); |
169 | GPIO_StructInit(&GPIO_InitStructure); |
170 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
170 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
171 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
171 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
172 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
172 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
173 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
173 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
174 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
174 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
175 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
175 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
176 | // set port pin 6.7 (serial data to gps) to output |
176 | // set port pin 6.7 (serial data to gps) to output |
177 | GPIO_StructInit(&GPIO_InitStructure); |
177 | GPIO_StructInit(&GPIO_InitStructure); |
178 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
178 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
179 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
179 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
180 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
180 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
181 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
181 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
182 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
182 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
183 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
183 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
184 | // configure the UART0 |
184 | // configure the UART0 |
185 | UART0_Configure(Baudrate); |
185 | UART0_Configure(Baudrate); |
186 | 186 | ||
187 | UART0_Muxer = UART0_MKGPS; |
187 | UART0_Muxer = UART0_MKGPS; |
188 | } |
188 | } |
189 | 189 | ||
190 | /********************************************************/ |
190 | /********************************************************/ |
191 | /* Connect RXD & TXD to MK3MAG */ |
191 | /* Connect RXD & TXD to MK3MAG */ |
192 | /********************************************************/ |
192 | /********************************************************/ |
193 | void UART0_Connect_to_MK3MAG(void) |
193 | void UART0_Connect_to_MK3MAG(void) |
194 | { |
194 | { |
195 | u16 Baudrate; |
195 | u16 Baudrate; |
196 | 196 | ||
197 | GPIO_InitTypeDef GPIO_InitStructure; |
197 | GPIO_InitTypeDef GPIO_InitStructure; |
198 | 198 | ||
199 | UART0_Muxer = UART0_UNDEF; |
199 | UART0_Muxer = UART0_UNDEF; |
200 | 200 | ||
201 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
201 | SCU_APBPeriphClockConfig(__GPIO5, ENABLE); |
202 | // unmap UART0 from GPS |
202 | // unmap UART0 from GPS |
203 | // set port pin 6.6 (serial data from gps) to input and disconnect from IP |
203 | // set port pin 6.6 (serial data from gps) to input and disconnect from IP |
204 | GPIO_StructInit(&GPIO_InitStructure); |
204 | GPIO_StructInit(&GPIO_InitStructure); |
205 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
205 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
206 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
206 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; |
207 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
207 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
208 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
208 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
209 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
209 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
210 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
210 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
211 | // set port pin 6.7 (serial data to gps) to input |
211 | // set port pin 6.7 (serial data to gps) to input |
212 | GPIO_StructInit(&GPIO_InitStructure); |
212 | GPIO_StructInit(&GPIO_InitStructure); |
213 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
213 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
214 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
214 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; |
215 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
215 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
216 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
216 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Disable; |
217 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
217 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; |
218 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
218 | GPIO_Init(GPIO6, &GPIO_InitStructure); |
219 | 219 | ||
220 | // map UART0 to Compass |
220 | // map UART0 to Compass |
221 | // set port pin 5.1 (serial data from compass) to input and connect to IP |
221 | // set port pin 5.1 (serial data from compass) to input and connect to IP |
222 | GPIO_StructInit(&GPIO_InitStructure); |
222 | GPIO_StructInit(&GPIO_InitStructure); |
223 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
223 | GPIO_InitStructure.GPIO_Direction = GPIO_PinInput; |
224 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
224 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; |
225 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
225 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull ; |
226 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
226 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
227 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
227 | GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1; //UART0_RxD |
228 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
228 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
229 | // set port pin 5.0 (serial data to compass) to output |
229 | // set port pin 5.0 (serial data to compass) to output |
230 | GPIO_StructInit(&GPIO_InitStructure); |
230 | GPIO_StructInit(&GPIO_InitStructure); |
231 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
231 | GPIO_InitStructure.GPIO_Direction = GPIO_PinOutput; |
232 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
232 | GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; |
233 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
233 | GPIO_InitStructure.GPIO_Type = GPIO_Type_PushPull; |
234 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
234 | GPIO_InitStructure.GPIO_IPInputConnected = GPIO_IPInputConnected_Enable; |
235 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
235 | GPIO_InitStructure.GPIO_Alternate = GPIO_OutputAlt3; //UART0_TX |
236 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
236 | GPIO_Init(GPIO5, &GPIO_InitStructure); |
237 | Baudrate = UART0_BAUD_RATE + ((UART0_BAUD_RATE * 2)/100); // MK3Mag baudrate is a little bit higher... |
237 | Baudrate = UART0_BAUD_RATE + ((UART0_BAUD_RATE * 2)/100); // MK3Mag baudrate is a little bit higher... |
238 | UART0_Configure(Baudrate); |
238 | UART0_Configure(Baudrate); |
239 | UART0_Muxer = UART0_MK3MAG; |
239 | UART0_Muxer = UART0_MK3MAG; |
240 | } |
240 | } |
241 | 241 | ||
242 | /********************************************************/ |
242 | /********************************************************/ |
243 | /* Initialize UART0 */ |
243 | /* Initialize UART0 */ |
244 | /********************************************************/ |
244 | /********************************************************/ |
245 | void UART0_Init(void) |
245 | void UART0_Init(void) |
246 | { |
246 | { |
247 | UART1_PutString("\r\n UART0 init..."); |
247 | UART1_PutString("\r\n UART0 init..."); |
248 | 248 | ||
249 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
249 | UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
250 | 250 | ||
251 | // initialize txd buffer |
251 | // initialize txd buffer |
252 | Buffer_Init(&UART0_tx_buffer, UART0_tbuffer, UART0_TX_BUFFER_LEN); |
252 | Buffer_Init(&UART0_tx_buffer, UART0_tbuffer, UART0_TX_BUFFER_LEN); |
253 | 253 | ||
254 | // initialize rxd buffer |
254 | // initialize rxd buffer |
255 | Buffer_Init(&UART0_rx_buffer, UART0_rbuffer, UART0_RX_BUFFER_LEN); |
255 | Buffer_Init(&UART0_rx_buffer, UART0_rbuffer, UART0_RX_BUFFER_LEN); |
256 | 256 | ||
257 | UART1_PutString("ok"); |
257 | UART1_PutString("ok"); |
258 | } |
258 | } |
259 | 259 | ||
260 | /********************************************************/ |
260 | /********************************************************/ |
261 | /* UART0 Interrupt Handler */ |
261 | /* UART0 Interrupt Handler */ |
262 | /********************************************************/ |
262 | /********************************************************/ |
263 | void UART0_IRQHandler(void) |
263 | void UART0_IRQHandler(void) |
264 | { |
264 | { |
265 | u8 c; |
265 | u8 c; |
266 | // if receive irq (FIFO is over trigger level) or receive timeout irq (FIFO is not empty for longer times) has occured |
266 | // if receive irq (FIFO is over trigger level) or receive timeout irq (FIFO is not empty for longer times) has occured |
267 | if((UART_GetITStatus(UART0, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART0, UART_IT_ReceiveTimeOut) != RESET) ) |
267 | if((UART_GetITStatus(UART0, UART_IT_Receive) != RESET) || (UART_GetITStatus(UART0, UART_IT_ReceiveTimeOut) != RESET) ) |
268 | { |
268 | { |
269 | UART_ClearITPendingBit(UART0, UART_IT_Receive); // clear receive interrupt flag |
269 | UART_ClearITPendingBit(UART0, UART_IT_Receive); // clear receive interrupt flag |
270 | UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
270 | UART_ClearITPendingBit(UART0, UART_IT_ReceiveTimeOut); // clear receive timeout interrupt flag |
271 | 271 | ||
272 | // if debug UART is UART0 |
272 | // if debug UART is UART0 |
273 | if (DebugUART == UART0) |
273 | if (DebugUART == UART0) |
274 | { // forward received data to the UART1 tx buffer |
274 | { // forward received data to the UART1 tx buffer |
275 | while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
275 | while(UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
276 | { |
276 | { |
277 | // wait for space in the tx buffer of the UART1 |
277 | // wait for space in the tx buffer of the UART1 |
278 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {}; |
278 | while(UART_GetFlagStatus(UART1, UART_FLAG_TxFIFOFull) == SET) {}; |
279 | // move the byte from the rx buffer of UART0 to the tx buffer of UART1 |
279 | // move the byte from the rx buffer of UART0 to the tx buffer of UART1 |
280 | UART_SendData(UART1, UART_ReceiveData(UART0)); |
280 | UART_SendData(UART1, UART_ReceiveData(UART0)); |
281 | } |
281 | } |
282 | } |
282 | } |
283 | else // UART0 is not the DebugUART (normal operation) |
283 | else // UART0 is not the DebugUART (normal operation) |
284 | { |
284 | { |
285 | // repeat until no byte is in the RxFIFO |
285 | // repeat until no byte is in the RxFIFO |
286 | while (UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
286 | while (UART_GetFlagStatus(UART0, UART_FLAG_RxFIFOEmpty) != SET) |
287 | { |
287 | { |
288 | c = UART_ReceiveData(UART0); // get byte from rx fifo |
288 | c = UART_ReceiveData(UART0); // get byte from rx fifo |
289 | switch(UART0_Muxer) |
289 | switch(UART0_Muxer) |
290 | { |
290 | { |
291 | case UART0_MKGPS: |
291 | case UART0_MKGPS: |
292 | UBX_RxParser(c); // if connected to GPS forward byte to ubx parser |
292 | UBX_RxParser(c); // if connected to GPS forward byte to ubx parser |
293 | MKProtocol_CollectSerialFrame(&UART0_rx_buffer, c); // ckeck for MK-Frames also |
293 | MKProtocol_CollectSerialFrame(&UART0_rx_buffer, c); // ckeck for MK-Frames also |
294 | break; |
294 | break; |
295 | case UART0_MK3MAG: |
295 | case UART0_MK3MAG: |
296 | // ignore any byte send from MK3MAG |
296 | // ignore any byte send from MK3MAG |
297 | break; |
297 | break; |
298 | case UART0_UNDEF: |
298 | case UART0_UNDEF: |
299 | default: |
299 | default: |
300 | // ignore the byte from unknown source |
300 | // ignore the byte from unknown source |
301 | break; |
301 | break; |
302 | } // eof switch(UART0_Muxer) |
302 | } // eof switch(UART0_Muxer) |
303 | } // eof while |
303 | } // eof while |
304 | } // eof UART0 is not the DebugUART |
304 | } // eof UART0 is not the DebugUART |
305 | } // eof receive irq or receive timeout irq |
305 | } // eof receive irq or receive timeout irq |
306 | } |
306 | } |
307 | 307 | ||
308 | /**************************************************************/ |
308 | /**************************************************************/ |
309 | /* Process incomming data from debug uart */ |
309 | /* Process incomming data from debug uart */ |
310 | /**************************************************************/ |
310 | /**************************************************************/ |
311 | void UART0_ProcessRxData(void) |
311 | void UART0_ProcessRxData(void) |
312 | { |
312 | { |
313 | SerialMsg_t SerialMsg; |
313 | SerialMsg_t SerialMsg; |
314 | // if data in the rxd buffer are not locked immediately return |
314 | // if data in the rxd buffer are not locked immediately return |
315 | if((UART0_rx_buffer.Locked == FALSE) || (DebugUART == UART0) ) return; |
315 | if((UART0_rx_buffer.Locked == FALSE) || (DebugUART == UART0) ) return; |
316 | 316 | ||
317 | MKProtocol_DecodeSerialFrameHeader(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
317 | MKProtocol_DecodeSerialFrameHeader(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
318 | MKProtocol_DecodeSerialFrameData(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
318 | MKProtocol_DecodeSerialFrameData(&UART0_rx_buffer, &SerialMsg); // decode serial frame in rxd buffer |
319 | 319 | ||
320 | switch(SerialMsg.Address) // check for Slave Address |
320 | switch(SerialMsg.Address) // check for Slave Address |
321 | { |
321 | { |
322 | case MKOSD_ADDRESS: // answers from the MKOSD |
322 | case MKOSD_ADDRESS: // answers from the MKOSD |
323 | switch(SerialMsg.CmdID) |
323 | switch(SerialMsg.CmdID) |
324 | { |
324 | { |
325 | case 'V': |
325 | case 'V': |
326 | memcpy(&MKOSD_VersionInfo, SerialMsg.pData, sizeof(MKOSD_VersionInfo)); // copy echo pattern |
326 | memcpy(&MKOSD_VersionInfo, SerialMsg.pData, sizeof(MKOSD_VersionInfo)); // copy echo pattern |
327 | break; |
327 | break; |
328 | default: |
328 | default: |
329 | break; |
329 | break; |
330 | } // case MKOSD_ADDRESS |
330 | } // case MKOSD_ADDRESS |
331 | break; |
331 | break; |
332 | 332 | ||
333 | case NC_ADDRESS: // own Slave Address |
333 | case NC_ADDRESS: // own Slave Address |
334 | switch(SerialMsg.CmdID) |
334 | switch(SerialMsg.CmdID) |
335 | { |
335 | { |
336 | case 'e': // request for the text of the error status |
336 | case 'e': // request for the text of the error status |
337 | UART0_Request_ErrorMessage = TRUE; |
337 | UART0_Request_ErrorMessage = TRUE; |
338 | break; |
338 | break; |
339 | case 'o': // request for navigation information |
339 | case 'o': // request for navigation information |
340 | UART0_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
340 | UART0_NaviData_Interval = (u32) SerialMsg.pData[0] * 10; |
341 | if(UART0_NaviData_Interval > 0) UART0_Request_NaviData = TRUE; |
341 | if(UART0_NaviData_Interval > 0) UART0_Request_NaviData = TRUE; |
342 | break; |
342 | break; |
343 | default: |
343 | default: |
344 | break; |
344 | break; |
345 | } // case NC_ADDRESS |
345 | } // case NC_ADDRESS |
346 | // "break;" is missing here to fall thru to the common commands |
346 | // "break;" is missing here to fall thru to the common commands |
347 | 347 | ||
348 | default: // and any other Slave Address |
348 | default: // and any other Slave Address |
349 | switch(SerialMsg.CmdID) // check CmdID |
349 | switch(SerialMsg.CmdID) // check CmdID |
350 | { |
350 | { |
351 | case 'v': // request for version info |
351 | case 'v': // request for version info |
352 | UART0_Request_VersionInfo = TRUE; |
352 | UART0_Request_VersionInfo = TRUE; |
353 | break; |
353 | break; |
354 | default: |
354 | default: |
355 | // unsupported command recieved |
355 | // unsupported command recieved |
356 | break; |
356 | break; |
357 | } |
357 | } |
358 | break; // default: |
358 | break; // default: |
359 | } |
359 | } |
360 | Buffer_Clear(&UART0_rx_buffer); |
360 | Buffer_Clear(&UART0_rx_buffer); |
361 | } |
361 | } |
362 | 362 | ||
363 | /**************************************************************/ |
363 | /**************************************************************/ |
364 | /* Transmit tx buffer via uart0 */ |
364 | /* Transmit tx buffer via uart0 */ |
365 | /**************************************************************/ |
365 | /**************************************************************/ |
366 | void UART0_Transmit(void) |
366 | void UART0_Transmit(void) |
367 | { |
367 | { |
368 | u8 tmp_tx; |
368 | u8 tmp_tx; |
369 | 369 | ||
370 | IENABLE; |
370 | IENABLE; |
371 | 371 | ||
372 | if(DebugUART == UART0) return; // no data output if debug uart is rederected to UART0 |
372 | if(DebugUART == UART0) return; // no data output if debug uart is rederected to UART0 |
373 | // if something has to be send and the txd fifo is not full |
373 | // if something has to be send and the txd fifo is not full |
374 | if((UART0_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART0, UART_FLAG_TxFIFOFull) == RESET)) |
374 | if((UART0_tx_buffer.Locked == TRUE) && (UART_GetFlagStatus(UART0, UART_FLAG_TxFIFOFull) == RESET)) |
375 | { |
375 | { |
376 | tmp_tx = UART0_tx_buffer.pData[UART0_tx_buffer.Position++]; // read next byte from txd buffer |
376 | tmp_tx = UART0_tx_buffer.pData[UART0_tx_buffer.Position++]; // read next byte from txd buffer |
377 | UART_SendData(UART0, tmp_tx); // put character to txd fifo |
377 | UART_SendData(UART0, tmp_tx); // put character to txd fifo |
378 | // if terminating character or end of txd buffer reached |
378 | // if terminating character or end of txd buffer reached |
379 | if((tmp_tx == '\r') || (UART0_tx_buffer.Position == UART0_tx_buffer.Size)) |
379 | if((tmp_tx == '\r') || (UART0_tx_buffer.Position == UART0_tx_buffer.Size)) |
380 | { |
380 | { |
381 | Buffer_Clear(&UART0_tx_buffer); |
381 | Buffer_Clear(&UART0_tx_buffer); |
382 | } |
382 | } |
383 | } |
383 | } |
384 | 384 | ||
385 | IDISABLE; |
385 | IDISABLE; |
386 | } |
386 | } |
387 | 387 | ||
388 | 388 | ||
389 | /**************************************************************/ |
389 | /**************************************************************/ |
390 | /* Send the answers to incomming commands at the uart0 */ |
390 | /* Send the answers to incomming commands at the uart0 */ |
391 | /**************************************************************/ |
391 | /**************************************************************/ |
392 | void UART0_TransmitTxData(void) |
392 | void UART0_TransmitTxData(void) |
393 | { |
393 | { |
394 | if(DebugUART == UART0) return; |
394 | if(DebugUART == UART0) return; |
395 | UART0_Transmit(); // output pending bytes in tx buffer |
395 | UART0_Transmit(); // output pending bytes in tx buffer |
396 | if(UART0_tx_buffer.Locked == TRUE) return; |
396 | if(UART0_tx_buffer.Locked == TRUE) return; |
397 | 397 | ||
398 | else if(UART0_Request_ErrorMessage && (UART0_tx_buffer.Locked == FALSE)) |
398 | else if(UART0_Request_ErrorMessage && (UART0_tx_buffer.Locked == FALSE)) |
399 | { |
399 | { |
400 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
400 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'E', NC_ADDRESS, 1, (u8 *)&ErrorMSG, sizeof(ErrorMSG)); |
401 | UART0_Request_ErrorMessage = FALSE; |
401 | UART0_Request_ErrorMessage = FALSE; |
402 | } |
402 | } |
403 | else if(UART0_Request_VersionInfo && (UART0_tx_buffer.Locked == FALSE)) |
403 | else if(UART0_Request_VersionInfo && (UART0_tx_buffer.Locked == FALSE)) |
404 | { |
404 | { |
405 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
405 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'V', NC_ADDRESS,1, (u8 *)&UART_VersionInfo, sizeof(UART_VersionInfo)); |
406 | UART0_Request_VersionInfo = FALSE; |
406 | UART0_Request_VersionInfo = FALSE; |
407 | } |
407 | } |
408 | else if(( ((UART0_NaviData_Interval >0) && CheckDelay(UART0_NaviData_Timer) ) || UART0_Request_NaviData) && (UART0_tx_buffer.Locked == FALSE)) |
408 | else if(( ((UART0_NaviData_Interval >0) && CheckDelay(UART0_NaviData_Timer) ) || UART0_Request_NaviData) && (UART0_tx_buffer.Locked == FALSE)) |
409 | { |
409 | { |
410 | NaviData.Errorcode = ErrorCode; |
410 | NaviData.Errorcode = ErrorCode; |
411 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
411 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'O', NC_ADDRESS,1, (u8 *)&NaviData, sizeof(NaviData)); |
412 | UART0_NaviData_Timer = SetDelay(UART0_NaviData_Interval); |
412 | UART0_NaviData_Timer = SetDelay(UART0_NaviData_Interval); |
413 | UART0_Request_NaviData = FALSE; |
413 | UART0_Request_NaviData = FALSE; |
414 | } |
414 | } |
415 | UART0_Transmit(); // output pending bytes in tx buffer |
415 | UART0_Transmit(); // output pending bytes in tx buffer |
416 | } |
416 | } |
417 | 417 | ||
418 | 418 | ||
419 | /**************************************************************/ |
419 | /**************************************************************/ |
420 | /* Get the version of the MKOSD */ |
420 | /* Get the version of the MKOSD */ |
421 | /**************************************************************/ |
421 | /**************************************************************/ |
422 | void UART0_GetMKOSDVersion(void) |
422 | u8 UART0_GetMKOSDVersion(void) |
423 | { |
423 | { |
424 | u32 timeout; |
424 | u32 timeout; |
425 | u8 msg[64]; |
425 | u8 msg[64]; |
- | 426 | u8 retval = 0; |
|
426 | 427 | ||
427 | MKOSD_VersionInfo.SWMajor = 0xFF; |
428 | MKOSD_VersionInfo.SWMajor = 0xFF; |
428 | MKOSD_VersionInfo.SWMinor = 0xFF; |
429 | MKOSD_VersionInfo.SWMinor = 0xFF; |
429 | MKOSD_VersionInfo.SWPatch = 0xFF; |
430 | MKOSD_VersionInfo.SWPatch = 0xFF; |
430 | 431 | ||
431 | if(UART0_Muxer != UART0_MKGPS) UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
432 | if(UART0_Muxer != UART0_MKGPS) UART0_Connect_to_MKGPS(UART0_BAUD_RATE); |
432 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
433 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
433 | 434 | ||
434 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'v', MKOSD_ADDRESS, 0); // request for version info |
435 | MKProtocol_CreateSerialFrame(&UART0_tx_buffer, 'v', MKOSD_ADDRESS, 0); // request for version info |
435 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
436 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
436 | 437 | ||
437 | timeout = SetDelay(500); |
438 | timeout = SetDelay(500); |
438 | do |
439 | do |
439 | { |
440 | { |
440 | UART0_ProcessRxData(); |
441 | UART0_ProcessRxData(); |
441 | if(MKOSD_VersionInfo.SWMajor != 0xFF) break; |
442 | if(MKOSD_VersionInfo.SWMajor != 0xFF) break; |
442 | }while(!CheckDelay(timeout)); |
443 | }while(!CheckDelay(timeout)); |
443 | 444 | ||
444 | if(MKOSD_VersionInfo.SWMajor != 0xFF) |
445 | if(MKOSD_VersionInfo.SWMajor != 0xFF) |
445 | { |
446 | { |
446 | sprintf(msg, "\n\r MK-OSD V%d.%d%c", MKOSD_VersionInfo.SWMajor, MKOSD_VersionInfo.SWMinor, 'a'+MKOSD_VersionInfo.SWPatch); |
447 | sprintf(msg, "\n\r MK-OSD V%d.%d%c", MKOSD_VersionInfo.SWMajor, MKOSD_VersionInfo.SWMinor, 'a'+MKOSD_VersionInfo.SWPatch); |
447 | UART1_PutString(msg); |
448 | UART1_PutString(msg); |
- | 449 | retval = 1; |
|
448 | } |
450 | } |
449 | //else UART1_PutString("\n\r No version information from MK-OSD."); |
451 | //else UART1_PutString("\n\r No version information from MK-OSD."); |
- | 452 | return(retval); |
|
450 | } |
453 | } |
451 | - | ||
452 | 454 | ||
453 | /**************************************************************/ |
455 | /**************************************************************/ |
454 | /* Send a configuration message to the UBLOX device */ |
456 | /* Send a message to the UBLOX device */ |
455 | /**************************************************************/ |
457 | /**************************************************************/ |
456 | u8 UART0_UBXSendCFGMsg(u8 Id, u8* pData, u16 Len) |
458 | u8 UART0_UBXSendMsg(u8* pData, u16 Len) |
457 | { |
- | |
458 | u32 timeout; |
459 | { |
459 | u8 retval = 0; |
460 | u8 retval = 0; |
460 | // check for connection to GPS |
461 | // check for connection to GPS |
461 | if(UART0_Muxer != UART0_MKGPS) return(retval); |
462 | if(UART0_Muxer != UART0_MKGPS) return(retval); |
462 | // free the acknowledge buffer |
- | |
463 | UbxAck.Status = INVALID; |
- | |
464 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
463 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
465 | UBX_CreateMsg(&UART0_tx_buffer, UBX_CLASS_CFG, Id, pData, Len); // build ubx message frame |
464 | UBX_CreateMsg(&UART0_tx_buffer, pData, Len); // build ubx message frame |
466 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
465 | while(UART0_tx_buffer.Locked == TRUE) UART0_Transmit(); // output pending bytes in tx buffer; |
- | 466 | return(1); |
|
- | 467 | } |
|
- | 468 | ||
- | 469 | /**************************************************************/ |
|
- | 470 | /* Send a configuration message to the UBLOX device */ |
|
- | 471 | /**************************************************************/ |
|
- | 472 | u8 UART0_UBXSendCFGMsg(u8* pData, u16 Len) |
|
- | 473 | { |
|
- | 474 | u32 timeout; |
|
- | 475 | u8 retval = 0; |
|
- | 476 | // if data are not a CFG MSG |
|
- | 477 | if(pData[0]!= UBX_CLASS_CFG) return(retval); |
|
- | 478 | // prepare rx msg filter |
|
- | 479 | UbxMsg.Hdr.Class = UBX_CLASS_ACK; |
|
- | 480 | UbxMsg.Hdr.Id = 0xFF; |
|
- | 481 | UbxMsg.Hdr.Length = 0; |
|
- | 482 | UbxMsg.ClassMask = 0xFF; |
|
- | 483 | UbxMsg.IdMask = 0x00; |
|
- | 484 | UbxMsg.Status = INVALID; |
|
- | 485 | UART0_UBXSendMsg(pData, Len); |
|
467 | // check for acknowledge |
486 | // check for acknowledge msg |
- | 487 | timeout = SetDelay(100); |
|
- | 488 | do |
|
- | 489 | { |
|
- | 490 | if(UbxMsg.Status == NEWDATA) break; |
|
- | 491 | }while(!CheckDelay(timeout)); |
|
- | 492 | if(UbxMsg.Status == NEWDATA) |
|
- | 493 | { // 2 bytes payload |
|
- | 494 | if((UbxMsg.Data[0] == pData[0]) && (UbxMsg.Data[1] == pData[1]) && (UbxMsg.Hdr.Length == 2)) retval = UbxMsg.Hdr.Id; |
|
- | 495 | } |
|
- | 496 | UbxMsg.Status = INVALID; |
|
- | 497 | return(retval); |
|
- | 498 | } |
|
- | 499 | ||
- | 500 | /**************************************************************/ |
|
- | 501 | /* Get Version Info from UBX Module */ |
|
- | 502 | /**************************************************************/ |
|
- | 503 | u8 UART0_GetUBXVersion(void) |
|
- | 504 | { |
|
- | 505 | u32 timeout; |
|
- | 506 | u8 retval = 0xFF; |
|
- | 507 | u8 ubxmsg[]={0x0A, 0x04, 0x00, 0x00}; //MON-VER |
|
- | 508 | // prepare rx msg filter |
|
- | 509 | UbxMsg.Hdr.Class = 0x0A; |
|
- | 510 | UbxMsg.Hdr.Id = 0x04; |
|
- | 511 | UbxMsg.Hdr.Length = 0; |
|
- | 512 | UbxMsg.ClassMask = 0xFF; |
|
- | 513 | UbxMsg.IdMask = 0xFF; |
|
- | 514 | UbxMsg.Status = INVALID; |
|
- | 515 | UART0_UBXSendMsg(ubxmsg, sizeof(ubxmsg)); |
|
- | 516 | // check for answer |
|
468 | timeout = SetDelay(500); |
517 | timeout = SetDelay(100); |
469 | do |
518 | do |
470 | { |
519 | { |
471 | if(UbxAck.Status == NEWDATA) break; |
520 | if(UbxMsg.Status == NEWDATA) break; |
472 | }while(!CheckDelay(timeout)); |
521 | }while(!CheckDelay(timeout)); |
473 | if(UbxAck.Status == NEWDATA) |
522 | if((UbxMsg.Hdr.Length >= 40) && (UbxMsg.Status == NEWDATA)) |
474 | { |
523 | { |
475 | if((UbxAck.clsID == UBX_CLASS_CFG) && (UbxAck.msgID == Id)) retval = UbxAck.Ack; |
524 | UbxMsg.Data[4] = 0; //Only the fisrt 4 chsracters |
- | 525 | UbxMsg.Data[39] = 0; |
|
- | 526 | UART1_PutString(" V"); |
|
- | 527 | UART1_PutString((u8*)&UbxMsg.Data); |
|
- | 528 | UART1_PutString(" HW:"); |
|
- | 529 | UART1_PutString((u8*)&UbxMsg.Data[30]); |
|
- | 530 | retval = UbxMsg.Data[0]-'0'; // major sw version |
|
476 | } |
531 | } |
477 | UbxAck.Status = INVALID; |
532 | UbxMsg.Status = INVALID; |
478 | return(retval); |
533 | return(retval); |
479 | } |
534 | } |
480 | 535 |