/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!! */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die PORTIERUNG der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed
//
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdio.h>
#include <stdarg.h>
#include <string.h>
#include "91x_lib.h"
#include "main.h"
#include "uart0.h"
#include "uart1.h"
#include "timer1.h"
#include "ubx.h"
#include "mkprotocol.h"
//------------------------------------------------------------------------------------
// global variables
MKOSD_VersionInfo_t MKOSD_VersionInfo
;
#define UART0_BAUD_RATE 57600 //Baud Rate for the serial interfaces
// UART0 MUXER
UART0_MuxerState_t UART0_Muxer
= UART0_UNDEF
;
u16 Uart0Baudrate
= UART0_BAUD_RATE
;
u16 Uart0MK3MagBaudrate
= UART0_BAUD_RATE
;
// the tx buffer
#define UART0_TX_BUFFER_LEN 150
u8 UART0_tbuffer
[UART0_TX_BUFFER_LEN
];
Buffer_t UART0_tx_buffer
;
// the rx buffer
#define UART0_RX_BUFFER_LEN 150
u8 UART0_rbuffer
[UART0_RX_BUFFER_LEN
];
Buffer_t UART0_rx_buffer
;
u8 UART0_Request_VersionInfo
= FALSE
;
u8 UART0_Request_NaviData
= FALSE
;
u8 UART0_Request_ErrorMessage
= FALSE
;
u32 UART0_NaviData_Timer
;
u32 UART0_NaviData_Interval
= 0; // in ms
//------------------------------------------------------------------------------------
// functions
/********************************************************/
/* Connect RXD & TXD to GPS */
/********************************************************/
void UART0_Connect_to_MKGPS
(void)
{
GPIO_InitTypeDef GPIO_InitStructure
;
UART0_Muxer
= UART0_UNDEF
;
SCU_APBPeriphClockConfig
(__GPIO6
, ENABLE
); // Enable the GPIO6 Clock
// unmap UART0 from Compass
// set port pin 5.1 (serial data from compass) to input and disconnect from IP
GPIO_StructInit
(&GPIO_InitStructure
);
GPIO_InitStructure.
GPIO_Direction = GPIO_PinInput
;
GPIO_InitStructure.
GPIO_Pin = GPIO_Pin_1
;
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
);
// set port pin 5.0 (serial data to compass) to input
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
(GPIO5
, &GPIO_InitStructure
);
// map UART0 to GPS
// set port pin 6.6 (serial data from gps) to input and connect to IP
GPIO_StructInit
(&GPIO_InitStructure
);
GPIO_InitStructure.
GPIO_Direction = GPIO_PinInput
;
GPIO_InitStructure.
GPIO_Pin = GPIO_Pin_6
;
GPIO_InitStructure.
GPIO_Type = GPIO_Type_PushPull
;
GPIO_InitStructure.
GPIO_IPConnected = GPIO_IPConnected_Enable
;
GPIO_InitStructure.
GPIO_Alternate = GPIO_InputAlt1
; //UART0_RxD
GPIO_Init
(GPIO6
, &GPIO_InitStructure
);
// set port pin 6.7 (serial data to gps) to output
GPIO_StructInit
(&GPIO_InitStructure
);
GPIO_InitStructure.
GPIO_Direction = GPIO_PinOutput
;
GPIO_InitStructure.
GPIO_Pin = GPIO_Pin_7
;
GPIO_InitStructure.
GPIO_Type = GPIO_Type_PushPull
;
GPIO_InitStructure.
GPIO_IPConnected = GPIO_IPConnected_Enable
;
GPIO_InitStructure.
GPIO_Alternate = GPIO_OutputAlt3
; //UART0_TX
GPIO_Init
(GPIO6
, &GPIO_InitStructure
);
UART0_Muxer
= UART0_MKGPS
;
}
/********************************************************/
/* Connect RXD & TXD to MK3MAG */
/********************************************************/
void UART0_Connect_to_MK3MAG
(void)
{
GPIO_InitTypeDef GPIO_InitStructure
;
UART0_Muxer
= UART0_UNDEF
;
SCU_APBPeriphClockConfig
(__GPIO5
, ENABLE
);
// unmap UART0 from GPS
// set port pin 6.6 (serial data from gps) to input and disconnect from IP
GPIO_StructInit
(&GPIO_InitStructure
);
GPIO_InitStructure.
GPIO_Direction = GPIO_PinInput
;
GPIO_InitStructure.
GPIO_Pin = GPIO_Pin_6
;
GPIO_InitStructure.
GPIO_Type = GPIO_Type_PushPull
;
GPIO_InitStructure.
GPIO_IPConnected = GPIO_IPConnected_Disable
;
GPIO_InitStructure.
GPIO_Alternate = GPIO_InputAlt1
;
GPIO_Init
(GPIO6
, &GPIO_InitStructure
);
// set port pin 6.7 (serial data to gps) to input
GPIO_StructInit
(&GPIO_InitStructure
);
GPIO_InitStructure.
GPIO_Direction = GPIO_PinInput
;
GPIO_InitStructure.
GPIO_Pin = GPIO_Pin_7
;
GPIO_InitStructure.
GPIO_Type = GPIO_Type_PushPull
;
GPIO_InitStructure.
GPIO_IPConnected = GPIO_IPConnected_Disable
;
GPIO_InitStructure.
GPIO_Alternate = GPIO_InputAlt1
;
GPIO_Init
(GPIO6
, &GPIO_InitStructure
);
// map UART0 to Compass
// set port pin 5.1 (serial data from compass) to input and connect to IP
GPIO_StructInit
(&GPIO_InitStructure
);
GPIO_InitStructure.
GPIO_Direction = GPIO_PinInput
;
GPIO_InitStructure.
GPIO_Pin = GPIO_Pin_1
;
GPIO_InitStructure.
GPIO_Type = GPIO_Type_PushPull
;
GPIO_InitStructure.
GPIO_IPConnected = GPIO_IPConnected_Enable
;
GPIO_InitStructure.
GPIO_Alternate = GPIO_InputAlt1
; //UART0_RxD
GPIO_Init
(GPIO5
, &GPIO_InitStructure
);
// set port pin 5.0 (serial data to compass) to output
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_IPConnected = GPIO_IPConnected_Enable
;
GPIO_InitStructure.
GPIO_Alternate = GPIO_OutputAlt3
; //UART0_TX
GPIO_Init
(GPIO5
, &GPIO_InitStructure
);
UART0_Muxer
= UART0_MK3MAG
;
}
/********************************************************/
/* Initialize UART0 */
/********************************************************/
void UART0_Init
(void)
{
UART_InitTypeDef UART_InitStructure
;
UART1_PutString
("\r\n UART0 init...");
SCU_APBPeriphClockConfig
(__UART0
, ENABLE
); // Enable the UART0 Clock
Uart0Baudrate
= UART0_BAUD_RATE
+ ((UART0_BAUD_RATE
* 2)/100); // MK3Mag baudrate is a litlle bit higher...
/* UART0 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 = Uart0Baudrate
;
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
(UART0
); // reset uart 0 to default
UART_Init
(UART0
, &UART_InitStructure
); // initialize uart 0
// enable uart 0 interrupts selective
UART_ITConfig
(UART0
, UART_IT_Receive
| UART_IT_ReceiveTimeOut
/*| UART_IT_FrameError*/, ENABLE
);
UART_Cmd
(UART0
, ENABLE
); // enable uart 0
// configure the uart 0 interupt line as an IRQ with priority 10 (0 is highest)
VIC_Config
(UART0_ITLine
, VIC_IRQ
, 10);
// enable the uart 0 IRQ
VIC_ITCmd
(UART0_ITLine
, ENABLE
);
UART0_Connect_to_MKGPS
();
// initialize txd buffer
Buffer_Init
(&UART0_tx_buffer
, UART0_tbuffer
, UART0_TX_BUFFER_LEN
);
// initialize rxd buffer
Buffer_Init
(&UART0_rx_buffer
, UART0_rbuffer
, UART0_RX_BUFFER_LEN
);
UART1_PutString
("ok");
}
/********************************************************/
/* UART0 Interrupt Handler */
/********************************************************/
void UART0_IRQHandler
(void)
{
u8 c
;
// if receive irq or receive timeout irq has occured
if((UART_GetITStatus
(UART0
, UART_IT_Receive
) != RESET
) || (UART_GetITStatus
(UART0
, UART_IT_ReceiveTimeOut
) != RESET
) )
{
UART_ClearITPendingBit
(UART0
, UART_IT_Receive
); // clear receive interrupt flag
UART_ClearITPendingBit
(UART0
, UART_IT_ReceiveTimeOut
); // clear receive timeout interrupt flag
// if debug UART is UART0
if (DebugUART
== UART0
)
{ // forward received data to the UART1 tx buffer
while(UART_GetFlagStatus
(UART0
, 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 UART0 to the tx buffer of UART1
UART_SendData
(UART1
, UART_ReceiveData
(UART0
));
}
}
else // UART0 is not the DebugUART (normal operation)
{
// repeat until no byte is in the RxFIFO
while (UART_GetFlagStatus
(UART0
, UART_FLAG_RxFIFOEmpty
) != SET
)
{
c
= UART_ReceiveData
(UART0
); // get byte from rx fifo
switch(UART0_Muxer
)
{
case UART0_MKGPS
:
UBX_Parser
(c
); // if connected to GPS forward byte to ubx parser
MKProtocol_CollectSerialFrame
(&UART0_rx_buffer
, c
); // ckeck for MK-Frames also
break;
case UART0_MK3MAG
:
// ignore any byte send from MK3MAG
break;
case UART0_UNDEF
:
default:
// ignore the byte from unknown source
break;
} // eof switch(UART0_Muxer)
} // eof while
} // eof UART0 is not the DebugUART
} // eof receive irq or receive timeout irq
}
/**************************************************************/
/* Process incomming data from debug uart */
/**************************************************************/
void UART0_ProcessRxData
(void)
{
SerialMsg_t SerialMsg
;
// if data in the rxd buffer are not locked immediately return
if((UART0_rx_buffer.
Locked == FALSE
) || (DebugUART
== UART0
) ) return;
MKProtocol_DecodeSerialFrame
(&UART0_rx_buffer
, &SerialMsg
); // decode serial frame in rxd buffer
switch(SerialMsg.
Address) // check for Slave Address
{
case MKOSD_ADDRESS
: // answers from the MKOSD
switch(SerialMsg.
CmdID)
{
case 'V':
memcpy(&MKOSD_VersionInfo
, SerialMsg.
pData, sizeof(MKOSD_VersionInfo
)); // copy echo pattern
break;
default:
break;
} // case MKOSD_ADDRESS
break;
case NC_ADDRESS
: // own Slave Address
switch(SerialMsg.
CmdID)
{
case 'e': // request for the text of the error status
UART0_Request_ErrorMessage
= TRUE
;
break;
case 'o': // request for navigation information
UART0_NaviData_Interval
= (u32
) SerialMsg.
pData[0] * 10;
if(UART0_NaviData_Interval
> 0) UART0_Request_NaviData
= TRUE
;
break;
default:
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 'v': // request for version info
UART0_Request_VersionInfo
= TRUE
;
break;
default:
// unsupported command recieved
break;
}
break; // default:
}
Buffer_Clear
(&UART0_rx_buffer
);
}
/**************************************************************/
/* Transmit tx buffer via uart0 */
/**************************************************************/
void UART0_Transmit
(void)
{
u8 tmp_tx
;
if(DebugUART
== UART0
) return; // no data output if debug uart is rederected to UART0
// if something has to be send and the txd fifo is not full
if((UART0_tx_buffer.
Locked == TRUE
) && (UART_GetFlagStatus
(UART0
, UART_FLAG_TxFIFOFull
) == RESET
))
{
tmp_tx
= UART0_tx_buffer.
pData[UART0_tx_buffer.
Position++]; // read next byte from txd buffer
UART_SendData
(UART0
, tmp_tx
); // put character to txd fifo
// if terminating character or end of txd buffer reached
if((tmp_tx
== '\r') || (UART0_tx_buffer.
Position == UART0_tx_buffer.
Size))
{
Buffer_Clear
(&UART0_tx_buffer
);
}
}
}
/**************************************************************/
/* Send the answers to incomming commands at the uart0 */
/**************************************************************/
void UART0_TransmitTxData
(void)
{
if(DebugUART
== UART0
) return;
UART0_Transmit
(); // output pending bytes in tx buffer
if(UART0_tx_buffer.
Locked == TRUE
) return;
if(UART0_Request_ErrorMessage
&& (UART0_tx_buffer.
Locked == FALSE
))
{
MKProtocol_CreateSerialFrame
(&UART0_tx_buffer
, 'E', NC_ADDRESS
, 1, (u8
*)&ErrorMSG
, sizeof(ErrorMSG
));
UART0_Request_ErrorMessage
= FALSE
;
}
if(UART0_Request_VersionInfo
&& (UART0_tx_buffer.
Locked == FALSE
))
{
MKProtocol_CreateSerialFrame
(&UART0_tx_buffer
, 'V', NC_ADDRESS
,1, (u8
*)&UART_VersionInfo
, sizeof(UART_VersionInfo
));
UART0_Request_VersionInfo
= FALSE
;
}
if(( (UART0_NaviData_Interval
&& CheckDelay
(UART0_NaviData_Timer
) ) || UART0_Request_NaviData
) && (UART0_tx_buffer.
Locked == FALSE
))
{
NaviData.
Errorcode = ErrorCode
;
MKProtocol_CreateSerialFrame
(&UART0_tx_buffer
, 'O', NC_ADDRESS
,1, (u8
*)&NaviData
, sizeof(NaviData
));
UART0_NaviData_Timer
= SetDelay
(UART0_NaviData_Interval
);
UART0_Request_NaviData
= FALSE
;
}
UART0_Transmit
(); // output pending bytes in tx buffer
}
/**************************************************************/
/* Get the version of the MKOSD */
/**************************************************************/
void UART0_GetMKOSDVersion
(void)
{
u32 timeout
;
u8 msg
[64];
MKOSD_VersionInfo.
SWMajor = 0xFF;
MKOSD_VersionInfo.
SWMinor = 0xFF;
MKOSD_VersionInfo.
SWPatch = 0xFF;
if(UART0_Muxer
!= UART0_MKGPS
) UART0_Connect_to_MKGPS
();
while(UART0_tx_buffer.
Locked == TRUE
) UART0_Transmit
(); // output pending bytes in tx buffer;
MKProtocol_CreateSerialFrame
(&UART0_tx_buffer
, 'v', MKOSD_ADDRESS
, 0); // request for version info
while(UART0_tx_buffer.
Locked == TRUE
) UART0_Transmit
(); // output pending bytes in tx buffer;
timeout
= SetDelay
(500);
do
{
UART0_ProcessRxData
();
if(MKOSD_VersionInfo.
SWMajor != 0xFF) break;
}while(!CheckDelay
(timeout
));
if(MKOSD_VersionInfo.
SWMajor != 0xFF)
{
sprintf(msg
, "\n\r MK-OSD V%d.%d%c", MKOSD_VersionInfo.
SWMajor, MKOSD_VersionInfo.
SWMinor, 'a'+MKOSD_VersionInfo.
SWPatch);
UART1_PutString
(msg
);
}
//else UART1_PutString("\n\r No version information from MK-OSD.");
}