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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1421 | giacomo | 1 | /* |
| 2 | * Project: S.Ha.R.K. |
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| 3 | * |
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| 4 | * Coordinators: |
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| 5 | * Giorgio Buttazzo <giorgio@sssup.it> |
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| 6 | * Paolo Gai <pj@gandalf.sssup.it> |
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| 7 | * |
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| 8 | * Authors : |
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| 9 | * Giacomo Guidi <giacomo@gandalf.sssup.it> |
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| 10 | * (see the web pages for full authors list) |
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| 11 | * |
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| 12 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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| 13 | * |
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| 14 | * http://www.sssup.it |
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| 15 | * http://retis.sssup.it |
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| 16 | * http://shark.sssup.it |
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| 17 | */ |
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| 18 | |||
| 19 | #include <kernel/kern.h> |
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| 20 | #include <stdlib.h> |
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| 21 | #include <math.h> |
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| 22 | |||
| 23 | #include "nmea.h" |
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| 24 | |||
| 25 | #include <drivers/shark_keyb26.h> |
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| 26 | #include <drivers/shark_fb26.h> |
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| 27 | |||
| 28 | /* Number of available COM links */ |
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| 29 | #define COM_LINKS 4 |
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| 30 | |||
| 31 | #define COM1 0 |
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| 32 | #define COM2 1 |
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| 33 | #define COM3 2 |
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| 34 | #define COM4 3 |
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| 35 | |||
| 36 | /* These values identify interrupt type */ |
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| 37 | #define RX_FULL 1 |
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| 38 | #define TX_EMPTY 2 |
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| 39 | #define LS_CHANGED 4 |
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| 40 | #define MS_CHANGED 8 |
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| 41 | |||
| 42 | /* Register displacements */ |
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| 43 | #define THR 0 |
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| 44 | #define RBR 0 |
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| 45 | #define IER 1 |
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| 46 | #define FCR 2 |
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| 47 | #define IIR 2 |
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| 48 | #define LCR 3 |
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| 49 | #define MCR 4 |
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| 50 | #define LSR 5 |
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| 51 | #define MSR 6 |
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| 52 | #define SPad 7 |
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| 53 | |||
| 54 | /* Parity value */ |
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| 55 | #define NONE 0 |
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| 56 | #define ODD 1 |
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| 57 | #define EVEN 3 |
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| 58 | |||
| 59 | static unsigned int com_base[] = {0x03F8,0x02F8,0x03E8,0x02E8}; |
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| 60 | |||
| 61 | struct OUTDATA gNMEAdata; |
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| 62 | |||
| 63 | unsigned int com_read(unsigned int port,unsigned int reg) |
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| 64 | { |
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| 65 | unsigned int b; |
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| 66 | if (port > 3 || reg > 7) return(0); |
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| 67 | b = ll_in(com_base[port]+reg); |
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| 68 | return(b); |
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| 69 | } |
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| 70 | |||
| 71 | void com_write(unsigned int port,unsigned int reg,unsigned int value) |
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| 72 | { |
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| 73 | if (port > 3 || reg > 7) return; |
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| 74 | ll_out(com_base[port]+reg,value); |
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| 75 | } |
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| 76 | |||
| 77 | void com_send(unsigned int port,BYTE b) |
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| 78 | { |
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| 79 | while ((com_read(port,LSR) & 32) == 0); |
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| 80 | com_write(port,THR,b); |
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| 81 | } |
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| 82 | |||
| 83 | unsigned int com_receive(unsigned int port) |
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| 84 | { |
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| 85 | while ((com_read(port,LSR) & 1) == 0); |
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| 86 | return(com_read(port,RBR)); |
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| 87 | } |
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| 88 | |||
| 89 | int open_com(unsigned int port, DWORD speed, BYTE parity, BYTE len, BYTE stop) |
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| 90 | { |
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| 91 | unsigned long div,b_mask; |
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| 92 | |||
| 93 | /* Now set up the serial link */ |
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| 94 | b_mask = (parity & 3) * 8 + (stop & 1) * 4 + ((len - 5) & 3); |
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| 95 | div = 115200L / speed; |
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| 96 | /* Clear serial interrupt enable register */ |
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| 97 | com_write(port,IER,0); |
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| 98 | /* Empty input buffer */ |
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| 99 | com_read(port,RBR); |
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| 100 | /* Activate DLAB bit for speed setting */ |
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| 101 | com_write(port,LCR,0x80); |
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| 102 | /* Load baud divisor */ |
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| 103 | com_write(port,0,div & 0x00FF); |
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| 104 | div >>= 8; |
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| 105 | com_write(port,1,div & 0x00FF); |
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| 106 | /* Load control word (parity,stop bit,bit len) */ |
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| 107 | com_write(port,LCR,b_mask); |
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| 108 | /* Attiva OUT1 & OUT2 */ |
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| 109 | com_write(port,MCR,0x0C); |
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| 110 | |||
| 111 | return 0; |
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| 112 | |||
| 113 | } |
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| 114 | |||
| 115 | |||
| 116 | int main(int argc, char **argv) |
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| 117 | { |
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| 118 | |||
| 119 | unsigned int ch,i; |
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| 120 | char temp[100]; |
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| 121 | |||
| 122 | open_com(COM1,4800,NONE,8,0); |
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| 123 | i = 0; |
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| 124 | |||
| 125 | while(1) { |
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| 126 | |||
| 127 | ch = com_receive(COM1); |
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| 128 | temp[i] = ch; |
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| 129 | if (ch == 13) { |
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| 130 | temp[i] = 0; |
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| 131 | cprintf("%s\n",temp); |
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| 132 | process_message(temp + 1); |
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| 133 | i = 0; |
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| 134 | |||
| 135 | cprintf("Lat: %f Lon: %f Alt: %f Sat: %d View: %d Mod: %d Time: %s\n", |
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| 136 | gNMEAdata.latitude, |
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| 137 | gNMEAdata.longitude, |
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| 138 | gNMEAdata.altitude, |
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| 139 | gNMEAdata.satellites, |
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| 140 | gNMEAdata.in_view, |
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| 141 | gNMEAdata.mode, |
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| 142 | gNMEAdata.utc); |
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| 143 | |||
| 144 | ch = com_receive(COM1); |
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| 145 | |||
| 146 | } else { |
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| 147 | i++; |
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| 148 | } |
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| 149 | |||
| 150 | } |
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| 151 | |||
| 152 | return 0; |
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| 153 | |||
| 154 | } |
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| 155 |