113 lines
3.2 KiB
C++
113 lines
3.2 KiB
C++
/*
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* Copyright (C) OpenTX
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*
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* Based on code named
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* th9x - http://code.google.com/p/th9x
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* er9x - http://code.google.com/p/er9x
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* gruvin9x - http://code.google.com/p/gruvin9x
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*
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* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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#include "opentx.h"
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#if GPS_USART_BAUDRATE > 9600
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Fifo<uint8_t, 256> gpsRxFifo;
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#else
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Fifo<uint8_t, 64> gpsRxFifo;
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#endif
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void gpsInit(uint32_t baudrate)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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USART_InitTypeDef USART_InitStructure;
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NVIC_InitTypeDef NVIC_InitStructure;
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// RX and TX pins
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GPIO_PinAFConfig(GPIOA, GPS_TX_GPIO_PinSource, GPS_GPIO_AF);
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GPIO_PinAFConfig(GPIOA, GPS_RX_GPIO_PinSource, GPS_GPIO_AF);
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GPIO_InitStructure.GPIO_Pin = (GPS_TX_GPIO_PIN | GPS_RX_GPIO_PIN);
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_Init(GPS_UART_GPIO, &GPIO_InitStructure);
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// UART config
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USART_InitStructure.USART_BaudRate = baudrate;
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USART_InitStructure.USART_Parity = USART_Parity_No;
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USART_InitStructure.USART_StopBits = USART_StopBits_1;
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USART_InitStructure.USART_WordLength = USART_WordLength_8b;
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USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
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USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
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USART_Init(GPS_USART, &USART_InitStructure);
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USART_Cmd(GPS_USART, ENABLE);
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USART_ITConfig(GPS_USART, USART_IT_RXNE, ENABLE);
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NVIC_InitStructure.NVIC_IRQChannel = GPS_USART_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x9;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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}
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#if defined(DEBUG)
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uint8_t gpsTraceEnabled = false;
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Fifo<uint8_t, 64> gpsTxFifo;
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void gpsSendByte(uint8_t byte)
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{
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while (gpsTxFifo.isFull());
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gpsTxFifo.push(byte);
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USART_ITConfig(GPS_USART, USART_IT_TXE, ENABLE);
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}
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#endif // #if defined(DEBUG)
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extern "C" void GPS_USART_IRQHandler(void)
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{
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#if defined(DEBUG)
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// Send
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if (USART_GetITStatus(GPS_USART, USART_IT_TXE) != RESET) {
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uint8_t txchar;
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if (gpsTxFifo.pop(txchar)) {
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/* Write one byte to the transmit data register */
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USART_SendData(GPS_USART, txchar);
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}
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else {
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USART_ITConfig(GPS_USART, USART_IT_TXE, DISABLE);
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}
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}
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#endif
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// Receive
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uint32_t status = GPS_USART->SR;
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while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) {
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uint8_t data = GPS_USART->DR;
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if (!(status & USART_FLAG_ERRORS)) {
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gpsRxFifo.push(data);
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}
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status = GPS_USART->SR;
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}
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}
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uint8_t gpsGetByte(uint8_t * byte)
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{
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uint8_t result = gpsRxFifo.pop(*byte);
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#if defined(DEBUG)
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if (gpsTraceEnabled) {
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serialPutc(*byte);
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}
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#endif
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return result;
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} |