/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!! */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software Nutzungsbedingungen (english version: see below)
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
// + des Mitverschuldens offen.
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
// + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Software LICENSING TERMS
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
// + The Software may only be used with the Licensor's products.
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
// + agreement shall be the property of the Licensor.
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
// + features that can be used to identify the program may not be altered or defaced by the customer.
// + The customer shall be responsible for taking reasonable precautions
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
// + #### END OF LICENSING TERMS ####
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdio.h>
#include <string.h>
#include "91x_lib.h"
#include "config.h"
#include "main.h"
#include "uart1.h"
#include "mkprotocol.h"
#include "waypoints.h"
#include "gps.h"
#include "timer1.h"
#include "uart0.h"
#include "uart1.h"
#include "uart2.h"
#include "menu.h"
#include "usb.h"
#define ABO_TIMEOUT 4000 // disable abo after 4 seconds
u32 USB_AboTimeOut
= 0;
u16 Echo
; // 2 bytes recieved will be sent back as echo
// the primary rx fifo
#define USB_RX_FIFO_LEN 512
u8 USB_rxfifobuffer
[USB_RX_FIFO_LEN
];
fifo_t USB_rx_fifo
;
// the tx buffer
#define USB_TX_BUFFER_LEN 150
u8 USB_tbuffer
[USB_TX_BUFFER_LEN
];
Buffer_t USB_tx_buffer
;
// the rx buffer
#define USB_RX_BUFFER_LEN 150
u8 USB_rbuffer
[USB_RX_BUFFER_LEN
];
Buffer_t USB_rx_buffer
;
u8 USB_Request_VersionInfo
= FALSE
;
u8 USB_Request_SendFollowMe
= FALSE
;
u8 USB_Request_ExternalControl
= FALSE
;
u8 USB_Request_Display
= FALSE
;
u8 USB_Request_Display1
= FALSE
;
u8 USB_Request_DebugData
= FALSE
;
u8 USB_Request_DebugLabel
= 255;
u8 USB_Request_NaviData
= FALSE
;
u8 USB_Request_ErrorMessage
= FALSE
;
u8 USB_Request_Data3D
= FALSE
;
u8 USB_Request_Echo
= FALSE
;
u8 USB_DisplayKeys
= 0;
u8 USB_DisplayLine
= 0;
u8 USB_ConfirmFrame
= 0;
u32 USB_DebugData_Timer
= 0;
u32 USB_DebugData_Interval
= 0; // in ms
u32 USB_NaviData_Timer
= 0;
u32 USB_NaviData_Interval
= 0; // in ms
u32 USB_Data3D_Timer
= 0;
u32 USB_Data3D_Interval
= 0; // in ms
u32 USB_Display_Timer
= 0;
u32 USB_Display_Interval
= 0; // in ms
//-----------------------------------------------------------------
void USB_ConfigInit
(void)
{
GPIO_InitTypeDef GPIO_InitStructure
;
UART1_PutString
("\r\n USB init...");
#ifdef MCLK96MHZ
//USB clock = MCLK/2 = 48MHz
SCU_USBCLKConfig
(SCU_USBCLK_MCLK2
);
#else
//USB clock = MCLK = 48MHz
SCU_USBCLKConfig
(SCU_USBCLK_MCLK
);
#endif
//Enable USB clock
SCU_AHBPeriphClockConfig
(__USB
,ENABLE
);
SCU_AHBPeriphReset
(__USB
,DISABLE
);
SCU_AHBPeriphClockConfig
(__USB48M
,ENABLE
);
//Configure GPIO0 (D+ Pull-Up on P0.1)
SCU_APBPeriphClockConfig
(__GPIO0
,ENABLE
);
SCU_APBPeriphReset
(__GPIO0
,DISABLE
);
// GPIO_DeInit(P0.1);
GPIO_StructInit
(&GPIO_InitStructure
);
GPIO_InitStructure.
GPIO_Direction = GPIO_PinOutput
;
GPIO_InitStructure.
GPIO_Pin = GPIO_Pin_1
;
GPIO_InitStructure.
GPIO_Type = GPIO_Type_PushPull
;
GPIO_InitStructure.
GPIO_IPInputConnected = GPIO_IPInputConnected_Enable
;
GPIO_InitStructure.
GPIO_Alternate=GPIO_OutputAlt1
;
GPIO_Init
(GPIO0
, &GPIO_InitStructure
);
// initialize the rx fifo, block UART IRQ geting a byte from fifo
fifo_init
(&USB_rx_fifo
, USB_rxfifobuffer
, USB_RX_FIFO_LEN
, NO_ITLine
, USBLP_ITLine
);
// initialize txd buffer
Buffer_Init
(&USB_tx_buffer
, USB_tbuffer
, USB_TX_BUFFER_LEN
);
// initialize rxd buffer
Buffer_Init
(&USB_rx_buffer
, USB_rbuffer
, USB_RX_BUFFER_LEN
);
VIC_Config
(USBLP_ITLine
, VIC_IRQ
, PRIORITY_USB
);
//## VIC_ITCmd(USBLP_ITLine, ENABLE);
USB_Init
();
UART1_PutString
("ok");
}
/**************************************************************/
/* Process incomming data from debug uart */
/**************************************************************/
void USB_ProcessRxData
(void)
{
u8 c
;
SerialMsg_t SerialMsg
;
// if data in the rxd buffer are not locked immediately return
// if rx buffer is not locked
if(USB_rx_buffer.
Locked == FALSE
)
{
//collect data from primary rx fifo
while(fifo_get
(&USB_rx_fifo
, &c
))
{
// break if complete frame has been collected
if(MKProtocol_CollectSerialFrame
(&USB_rx_buffer
, c
)) break;
}
}
if(USB_rx_buffer.
Locked == FALSE
) return;
MKProtocol_DecodeSerialFrameHeader
(&USB_rx_buffer
, &SerialMsg
); // decode serial frame in rxd buffer
MKProtocol_DecodeSerialFrameData
(&USB_rx_buffer
, &SerialMsg
); // decode serial frame in rxd buffer
if(SerialMsg.
CmdID != 'z') SerialLinkOkay
= 250; // reset SerialTimeout, but not in case of the "ping"
switch(SerialMsg.
Address) // check for Slave Address
{
case NC_ADDRESS
: // own Slave Address
switch(SerialMsg.
CmdID)
{
case 'z': // connection checker
memcpy(&Echo
, SerialMsg.
pData, sizeof(Echo
)); // copy echo pattern
USB_Request_Echo
= TRUE
;
break;
case 'e': // request for the text of the error status
USB_Request_ErrorMessage
= TRUE
;
break;
default:
// unsupported command recieved
break;
} // case NC_ADDRESS
// "break;" is missing here to fall thru to the common commands
default: // and any other Slave Address
switch(SerialMsg.
CmdID) // check CmdID
{
case 'a':// request for the labels of the analog debug outputs
USB_Request_DebugLabel
= SerialMsg.
pData[0];
if(USB_Request_DebugLabel
> 31) USB_Request_DebugLabel
= 31;
break;
/*
case 'b': // submit extern control
memcpy(&ExternControl, SerialMsg.pData, sizeof(ExternControl));
USB_ConfirmFrame = ExternControl.Frame;
break;
*/
case 'd': // request for debug data;
USB_DebugData_Interval
= (u32
) SerialMsg.
pData[0] * 10;
if(USB_DebugData_Interval
> 0) USB_Request_DebugData
= TRUE
;
USB_AboTimeOut
= SetDelay
(ABO_TIMEOUT
);
break;
case 'c': // request for 3D data;
USB_Data3D_Interval
= (u32
) SerialMsg.
pData[0] * 10;
if(USB_Data3D_Interval
> 0) USB_Request_Data3D
= TRUE
;
USB_AboTimeOut
= SetDelay
(ABO_TIMEOUT
);
break;
case 'h':// reqest for display line
if((SerialMsg.
pData[0]& 0x80) == 0x00)// old format
{
USB_DisplayLine
= 2;
USB_Display_Interval
= 0;
}
else
{
USB_DisplayKeys
|= ~SerialMsg.
pData[0];
USB_Display_Interval
= (u32
) SerialMsg.
pData[1] * 10;
USB_DisplayLine
= 4;
USB_AboTimeOut
= SetDelay
(ABO_TIMEOUT
);
}
USB_Request_Display
= TRUE
;
break;
case 'l':// reqest for display columns
MenuItem
= SerialMsg.
pData[0];
USB_Request_Display1
= TRUE
;
break;
case 'o': // request for navigation information
USB_NaviData_Interval
= (u32
) SerialMsg.
pData[0] * 10;
if(USB_NaviData_Interval
> 0) USB_Request_NaviData
= TRUE
;
USB_AboTimeOut
= SetDelay
(ABO_TIMEOUT
);
break;
case 'v': // request for version info
USB_Request_VersionInfo
= TRUE
;
break;
default:
// unsupported command recieved
break;
}
break; // default:
}
Buffer_Clear
(&USB_rx_buffer
);
}
//-----------------------------------------------------------------
void USB_CableConfig
(FunctionalState NewState
)
{
if (NewState
== ENABLE
)
GPIO_WriteBit
(GPIO0
, GPIO_Pin_1
, Bit_RESET
);
else
GPIO_WriteBit
(GPIO0
, GPIO_Pin_1
, Bit_SET
);
}
//-----------------------------------------------------------------
void USB_EnterLowPowerMode
(void)
{
/* Set the device state to suspend */
bDeviceState
= SUSPENDED
;
}
//-----------------------------------------------------------------
void USB_LeaveLowPowerMode
(void)
{
DEVICE_INFO
*pInfo
= &Device_Info
;
/* Set the device state to the correct state */
if (pInfo
->Current_Configuration
!= 0)
{
/* Device configured */
bDeviceState
= CONFIGURED
;
}
else
{
bDeviceState
= ATTACHED
;
}
}
//-----------------------------------------------------------------
void USB_PutString
(u8
*string
)
{
u8 i
= 0;
u16 timeout
= 0;
while (string
[i
++] != 0){} // get string len
while (_GetEPTxStatus
(ENDP1
) != EP_TX_NAK
){ if (timeout
++ > 60000) return;}
UserToPMABufferCopy
(string
, ENDP1_TXADDR
, ++i
); // copy string to usb buffer
SetEPTxCount
(ENDP1
,i
);
SetEPTxValid
(ENDP1
);
}
//-----------------------------------------------------------------
void USB_PutChar
(u8 c
)
{
u16 timeout
= 0;
while (_GetEPTxStatus
(ENDP1
) != EP_TX_NAK
){ if (timeout
++ > 60000) return;}
UserToPMABufferCopy
(&c
, ENDP1_TXADDR
, 2);
SetEPTxCount
(ENDP1
,2);
SetEPTxValid
(ENDP1
);
}
//-----------------------------------------------------------------
void USB_SendData
(u8
*pdata
, u16 count
)
{
u8 i
;
count
++;
u16 timeout
= 0;
for (i
=0;i
< (count
/64)+1;i
++)
{
while (_GetEPTxStatus
(ENDP1
) != EP_TX_NAK
){if (timeout
++ > 60000) return;}
if (i
< (count
/64))
{
UserToPMABufferCopy
(&pdata
[i
*64], ENDP1_TXADDR
, 64);
SetEPTxCount
(ENDP1
,64);
}
else
{
UserToPMABufferCopy
(&pdata
[i
*64], ENDP1_TXADDR
, count
% 64);
SetEPTxCount
(ENDP1
, count
% 64);
}
SetEPTxValid
(ENDP1
);
}
}
/**************************************************************/
/* Transmit tx buffer via usb */
/**************************************************************/
void USB_Transmit
(void)
{ // nur blockweises kopieren des sendebuffers, nicht alles mit einem mal
// if something has to be send and the txd fifo is not full
if(USB_tx_buffer.
Locked == TRUE
)
{
if(_GetEPTxStatus
(ENDP1
) == EP_TX_NAK
)
{
u16 i
;
if(USB_tx_buffer.
Position < USB_tx_buffer.
DataBytes)
{
i
= USB_tx_buffer.
DataBytes - USB_tx_buffer.
Position; // bytes to send
if(i
> 64) i
= 64; // limit packet size to 64 bytes
UserToPMABufferCopy
(&(USB_tx_buffer.
pData[USB_tx_buffer.
Position]), ENDP1_TXADDR
, i
);
SetEPTxCount
(ENDP1
,i
);
SetEPTxValid
(ENDP1
);
USB_tx_buffer.
Position += i
;
}
}
if(USB_tx_buffer.
Position >= USB_tx_buffer.
DataBytes) // all bytes transfered
{
Buffer_Clear
(&USB_tx_buffer
); // clear buffer
}
}
}
/**************************************************************/
/* Send the answers to incomming commands at the debug uart */
/**************************************************************/
void USB_TransmitTxData
(void)
{
USB_Transmit
(); // output pending bytes in tx buffer
if((USB_tx_buffer.
Locked == TRUE
)) return;
if(CheckDelay
(USB_AboTimeOut
))
{
USB_DebugData_Interval
= 0;
USB_NaviData_Interval
= 0;
USB_Data3D_Interval
= 0;
USB_Display_Interval
= 0;
}
if((USB_Request_DebugLabel
!= 0xFF) && (USB_tx_buffer.
Locked == FALSE
))
{
MKProtocol_CreateSerialFrame
(&USB_tx_buffer
, 'A', NC_ADDRESS
, 2, &USB_Request_DebugLabel
, sizeof(USB_Request_DebugLabel
), (u8
*) ANALOG_LABEL
[USB_Request_DebugLabel
], 16);
USB_Request_DebugLabel
= 0xFF;
}
else if(USB_ConfirmFrame
&& (USB_tx_buffer.
Locked == FALSE
))
{
MKProtocol_CreateSerialFrame
(&USB_tx_buffer
, 'B', NC_ADDRESS
, 1, &USB_ConfirmFrame
, sizeof(USB_ConfirmFrame
));
USB_ConfirmFrame
= 0;
}
else if( (( (USB_DebugData_Interval
> 0) && CheckDelay
(USB_DebugData_Timer
)) || USB_Request_DebugData
) && (USB_tx_buffer.
Locked == FALSE
))
{
MKProtocol_CreateSerialFrame
(&USB_tx_buffer
, 'D', NC_ADDRESS
, 1,(u8
*)&DebugOut
, sizeof(DebugOut
));
USB_DebugData_Timer
= SetDelay
(USB_DebugData_Interval
);
USB_Request_DebugData
= FALSE
;
}
else if((( (USB_Data3D_Interval
> 0) && CheckDelay
(USB_Data3D_Timer
) ) || USB_Request_Data3D
) && (USB_tx_buffer.
Locked == FALSE
))
{
MKProtocol_CreateSerialFrame
(&USB_tx_buffer
, 'C', NC_ADDRESS
, 1,(u8
*)&Data3D
, sizeof(Data3D
));
USB_Data3D_Timer
= SetDelay
(USB_Data3D_Interval
);
USB_Request_Data3D
= FALSE
;
}
else if(USB_Request_ExternalControl
&& (USB_tx_buffer.
Locked == FALSE
))
{
MKProtocol_CreateSerialFrame
(&USB_tx_buffer
, 'G', NC_ADDRESS
, 1, (u8
*)&ExternControl
, sizeof(ExternControl
));
USB_Request_ExternalControl
= FALSE
;
}
else if( (( (USB_Display_Interval
> 0) && CheckDelay
(USB_Display_Timer
)) || USB_Request_Display
) && (USB_tx_buffer.
Locked == FALSE
))
{
Menu_Update
(USB_DisplayKeys
);
USB_DisplayKeys
= 0;
MKProtocol_CreateSerialFrame
(&USB_tx_buffer
, 'H', NC_ADDRESS
, 1, (u8
*)DisplayBuff
, sizeof(DisplayBuff
));
USB_Request_Display
= FALSE
;
}
else if(USB_Request_Display1
&& (USB_tx_buffer.
Locked == FALSE
))
{
Menu_Update
(0);
MKProtocol_CreateSerialFrame
(&USB_tx_buffer
, 'L', NC_ADDRESS
, 3, (u8
*)&MenuItem
, sizeof(MenuItem
), (u8
*)&MaxMenuItem
, sizeof(MaxMenuItem
),(u8
*)DisplayBuff
, sizeof(DisplayBuff
));
USB_Request_Display1
= FALSE
;
}
else if(USB_Request_VersionInfo
&& (USB_tx_buffer.
Locked == FALSE
))
{
MKProtocol_CreateSerialFrame
(&USB_tx_buffer
, 'V', NC_ADDRESS
,1, (u8
*)&UART_VersionInfo
, sizeof(UART_VersionInfo
));
USB_Request_VersionInfo
= FALSE
;
}
else if(( (USB_NaviData_Interval
&& CheckDelay
(USB_NaviData_Timer
) ) || USB_Request_NaviData
) && (USB_tx_buffer.
Locked == FALSE
))
{
NaviData.
Errorcode = ErrorCode
;
MKProtocol_CreateSerialFrame
(&USB_tx_buffer
, 'O', NC_ADDRESS
,1, (u8
*)&NaviData
, sizeof(NaviData
));
USB_NaviData_Timer
= SetDelay
(USB_NaviData_Interval
);
USB_Request_NaviData
= FALSE
;
}
else if(USB_Request_ErrorMessage
&& (USB_tx_buffer.
Locked == FALSE
))
{
MKProtocol_CreateSerialFrame
(&USB_tx_buffer
, 'E', NC_ADDRESS
, 1, (u8
*)&ErrorMSG
, sizeof(ErrorMSG
));
USB_Request_ErrorMessage
= FALSE
;
}
USB_Transmit
(); // output pending bytes in tx buffer
}