Subversion Repositories NaviCtrl

/*#######################################################################################*/

/* !!! 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

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:

// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + 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.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

//#define MCLK96MHZ

const unsigned long _Main_Crystal = 25000;

#include <stdio.h>

#include "91x_lib.h"

#include "led.h"

#include "uart0.h"

#include "uart1.h"

#include "uart2.h"

#include "GPS.h"

#include "i2c.h"

#include "timer.h"

#include "spi_slave.h"

#include "fat16.h"

#include "usb.h"

#include "sdc.h"

#include "logging.h"

#include "settings.h"

#include "main.h"

u32 TimerCompassUpdate;

u32 TimerCheckError;

u32 ErrorCode = 0;

u16 BeepTime;

u8  NCFlags = 0;

u8 ClearMKFlags = 0;

u8 StopNavigation = 0;

Param_t Parameter;

volatile FC_t FC;

s8 ErrorMSG[25];

//----------------------------------------------------------------------------------------------------

void SCU_Config(void)

{

        /* configure PLL and set it as master clock source */

        SCU_MCLKSourceConfig(SCU_MCLK_OSC);             // set master clock source to external oscillator clock (25MHz) before diabling the PLL

        SCU_PLLCmd(DISABLE);                                    // now disable the PLL

        #ifdef MCLK96MHZ

        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz

        SCU_PCLKDivisorConfig(SCU_PCLK_Div4);   // set PCLK     (APB bus clock) divisor to 4 (half Reference Clock)

        SCU_RCLKDivisorConfig(SCU_RCLK_Div2);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)

        SCU_HCLKDivisorConfig(SCU_HCLK_Div2);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)

        SCU_PLLFactorsConfig(192,25,2);                 // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2

        #else

        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz

        SCU_PCLKDivisorConfig(SCU_PCLK_Div2);   // set PCLK     (APB bus clock) divisor to 2 (half Reference Clock)

        SCU_RCLKDivisorConfig(SCU_RCLK_Div1);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)

        SCU_HCLKDivisorConfig(SCU_HCLK_Div1);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)

        SCU_PLLFactorsConfig(192,25,3);                 // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3

        #endif

        SCU_PLLCmd(ENABLE);                                     // Enable PLL (is disabled by SCU_PLLFactorsConfig)

        SCU_MCLKSourceConfig(SCU_MCLK_PLL);     // set master clock source to PLL

}

//----------------------------------------------------------------------------------------------------

void GetNaviCtrlVersion(void)

{

        u8 msg[25];

        sprintf(msg,"\n\r NaviCtrl V%d.%d%c",  VERSION_MAJOR,  VERSION_MINOR, 'a'+ VERSION_PATCH);

        UART1_PutString(msg);

}

//----------------------------------------------------------------------------------------------------

void CheckErrors(void)

{

        if(!CheckSPIOkay)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"no FC communication ");

                ErrorCode = 3;

                StopNavigation = 1;

        }

        else if(!CheckI2COkay)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"no MK3Mag communication ");

                ErrorCode = 4;

                StopNavigation = 1;

        }

        else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"FC not compatible ");

                ErrorCode = 1;

                StopNavigation = 1;

        }

        else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)

        {

                sprintf(ErrorMSG,"MK3Mag not compatible ");

                LED_RED_ON;

                ErrorCode = 2;

                StopNavigation = 1;

        }

        else if(!CheckGPSOkay)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"no GPS communication ");

                ErrorCode = 5;

                StopNavigation = 1;

        }

        else if(I2C_Heading.Heading < 0)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"bad compass value ");

                ErrorCode = 6;

                StopNavigation = 1;

        }

        else if(FC.RC_Quality < 100)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"RC Signal lost ");

                ErrorCode = 7;

        }

        else // no error occured

        {

                sprintf(ErrorMSG,"No Error               ");

                ErrorCode = 0;

                StopNavigation = 0;

                LED_RED_OFF;

        }

        CheckSPIOkay = 0;

        CheckGPSOkay = 0;

        CheckI2COkay = 0;

}

//----------------------------------------------------------------------------------------------------

int main(void)

{

        /* Configure the system clocks */

        SCU_Config();

        /* init VIC (Vectored Interrupt Controller)     */

        SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC

        SCU_AHBPeriphReset(__VIC, DISABLE);             // disable reset state for VIC

        VIC_DeInit();                                                   // deinitializes the VIC module registers to their default reset values.

        // initialize the interrupt handler

        Interrupt_Init();

        // initialize timer 1

        TIMER1_Init();

        // initialize the LEDs (needs Timer 1)

        Led_Init();

        // initialize the debug UART1

        UART1_Init();

        UART1_PutString("\r\n---------------------------------------------");

        // initialize UART2 to FLIGHTCTRL

        UART2_Init();

        // initialize UART0 (to MKGPS or MK3MAG)

        UART0_Init();

        // initialize usb

        USB_ConfigInit();

        // initialize SPI0 to FC

        SPI0_Init();

        // initialize i2c bus to MK3MAG (needs Timer 1)

        I2C1_Init();

        // initialize the gps position controller (needs Timer 1)

        GPS_Init();

        // initialize fat16 partition on sd card (needs Timer 1)

        Fat16_Init();

        // initialize the settings

        Settings_Init();

        // initialize logging (needs settings)

        Logging_Init();

        TimerCompassUpdate = SetDelay(5);

        TimerCheckError = SetDelay(3000);

        UART1_PutString("\r\n---------------------------------------------");

        UART1_PutString("\n\r Version information:");

        GetNaviCtrlVersion();

        SPI0_GetFlightCtrlVersion();

        if(FC_Version.Compatible != FC_SPI_COMPATIBLE)

        {

                //sprintf(ErrorMSG,"\r\n %d <-> %d", FlightCtrlVersion.NaviCompatible, FC_SPI_COMPATIBLE);

                //UART1_PutString(ErrorMSG);

                UART1_PutString("\n\r Flight-Ctrl not compatible");

                LED_RED_ON;

        }

        I2C1_GetMK3MagVersion();

        if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)

        {

                UART1_PutString("\n\r MK3Mag not compatible");

                LED_RED_ON;

        }

        UART0_GetMKOSDVersion();

        UART1_PutString("\r\n---------------------------------------------\r\n\r\n");

        for (;;)

        {

                UART1_ProcessRxData();  // process request

                UART1_TransmitTxData();         // send answer

                UART0_ProcessRxData();  // process request

                UART0_TransmitTxData();         // send answer

                USB_ProcessRxData();    // process request

                USB_TransmitTxData();   // send answer

                SPI0_UpdateBuffer();

                // ------------------------- I2C Timing --------------------------------

                if(I2C_State != I2C_OFF)

                {

                        if (CheckDelay(TimerCompassUpdate))

                        {

                                // check for hanging I2C bus

                                if(CheckDelay(I2C1_Timeout))

                                {       // reset I2C

                                        UART1_PutString("\n\rCommunication-Error: MK3Mag\n\r");

                                        I2C1_Deinit();

                                        I2C1_Init();

                                }

                                else

                                {       // check for incomming compass calibration request

                                        // update CalByte from spi input queue

                                        fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte));

                                        // send new calstate

                                        if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte)

                                        {

                                                I2C1_SendCommand(I2C_CMD_WRITE_CAL);

                                        }

                                        else // request current heading

                                        {

                                                I2C1_SendCommand(I2C_CMD_READ_HEADING);

                                        }

                                        TimerCompassUpdate = SetDelay(25);    // every 25 ms

                                }

                        }

                }

                // ---------------- Error Check Timing ----------------------------

                if(CheckDelay(TimerCheckError))

                {

                        TimerCheckError = SetDelay(1000);

                        if(!CheckSPIOkay) GPS_Navigation(); // process the GPS data even if the FC is not connected

                        CheckErrors();

                        if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time

//                      else NaviData.FlyingTime = 0;

                        UART1_Request_SendFollowMe = TRUE;

                        if(SerialLinkOkay) SerialLinkOkay--;

                        if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication

                        else NCFlags &= ~NC_FLAG_NOSERIALLINK;

                }

                // ---------------- Logging  ---------------------------------------

                Logging_Update();

        }

}