Subversion Repositories NaviCtrl

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

/* !!! 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.

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

//#define MCLK96MHZ

const unsigned long _Main_Crystal = 25000;

//#include <stdio.h>

#include <string.h>

#include "91x_lib.h"

#include "led.h"

#include "uart0.h"

#include "uart1.h"

#include "uart2.h"

#include "gps.h"

#include "i2c.h"

#include "compass.h"

#include "ncmag.h"

#include "timer1.h"

#include "timer2.h"

#include "analog.h"

#include "spi_slave.h"

#include "fat16.h"

#include "sdc.h"

#include "logging.h"

#include "params.h"

#include "settings.h"

#include "config.h"

#include "main.h"

#include "debug.h"

#include "eeprom.h"

#include "ssc.h"

#include "sdc.h"

#include "uart1.h"

#include "canbus.h"

#include "triggerlog.h"

#ifdef FOLLOW_ME

u8 TransmitAlsoToFC = 0;

#endif

u32 TimerCheckError;

u8 ErrorCode = 0;

u16 BeepTime;

u8  NCFlags = 0;

s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg

u8 ErrorGpsFixLost = 0;

u8 FromFC_LoadWP_List = 0, FromFC_Load_SinglePoint = 0, FromFC_Save_SinglePoint = 0;

u8 ToFC_MaxWpListIndex = 4;

u8 ClearFCStatusFlags = 0;

u8 StopNavigation = 0;

volatile u32 PollingTimeout = 10000;

Param_t Parameter;

Partner_t Partner;

volatile FC_t FC;

volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero

volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero

u32 CountGpsProcessedIn5Sec = 50,CountNewGpsDataIn5Sec = 25, FreqGpsNavProcessed = 0, FreqNewGpsData = 0;

u8 NewWPL_Name = 0;

u32 MaxWP_Radius_in_m = 0;

s8 ErrorMSG[25];

s8 PartnerErrorMSG[25] = "     ---                \0";

u32 TimeSinceMotorStart = 0;

u8 IamMaster = NOTHING; // for Master/Slave Redundance

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

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 HW: V%d.%d SW: V%d.%02d%c", UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR,  VERSION_MINOR, 'a'+ VERSION_PATCH);

        UART1_PutString(msg);

}

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

void CheckErrors(void)

{

    static s32 no_error_delay = 0;

        s32 newErrorCode = 0;

        UART_VersionInfo.HardwareError[0] = 0;

        if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS;

        else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status

        if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL;

        else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status

        if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC;

        else DebugOut.StatusRed &= ~AMPEL_NC;

        if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout))

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"no compass communica");

                //Reset Compass communication

                if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0);     else I2CBus_Init(I2C1);

                Compass_Init();

                newErrorCode = 4;

                StopNavigation = 1;

                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX;

                DebugOut.StatusRed |= AMPEL_COMPASS;

        }

        else if(CompassValueErrorCount > 30)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"compass sensor error");

                newErrorCode = 34;

                StopNavigation = 1;

                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE;

                if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0);     else I2CBus_Init(I2C1);

                Compass_Init();

        }

        else if((FCCalibActive || CompassCalState) && FC_Version.Hardware)

        {

                sprintf(ErrorMSG,"Calibrate... ");

                newErrorCode = 0;

                ErrorCode = 0;

                no_error_delay = 1;

        }

        else if(CheckDelay(SPI0_Timeout))

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"no FC communication ");

                newErrorCode = 3;

                StopNavigation = 1;

                DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present

                DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present

                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX;

        }

        else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)

        {

                LED_RED_ON;

#ifndef FOLLOW_ME

                sprintf(ErrorMSG,"FC not compatible ");

#else

                sprintf(ErrorMSG,"! FollowMe only ! ");

#endif

                newErrorCode = 1;

                StopNavigation = 1;

                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE;

                DebugOut.StatusRed |= AMPEL_NC;

        }

        else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"ERR: FC Nick Gyro");

                newErrorCode = 10;

        }

        else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"ERR: FC Roll Gyro");

                newErrorCode = 11;

        }

        else if(FC.Error[0] & FC_ERROR0_GYRO_YAW)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"ERR: FC Yaw Gyro");

                newErrorCode = 12;

        }

        else if(FC.Error[0] & FC_ERROR0_ACC_NICK)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"ERR: FC Nick ACC");

                newErrorCode = 13;

        }

        else if(FC.Error[0] & FC_ERROR0_ACC_ROLL)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"ERR: FC Roll ACC");

                newErrorCode = 14;

        }

        else if(FC.Error[0] & FC_ERROR0_ACC_TOP)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"ERR:FC Z-ACC");

                newErrorCode = 15;

        }

        else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"ERR:Flying range!");

                newErrorCode = 28;

        }

        else if(FC.Error[0] & FC_ERROR0_PRESSURE)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"ERR:Pressure sensor");

                newErrorCode = 16;

        }

        else if(FC.Error[1] &  FC_ERROR1_I2C)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"ERR:I2C FC to BL");

                newErrorCode = 17;

        }

        else if(FC.Error[1] &  FC_ERROR1_BL_MISSING)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"ERR: Bl Missing");

                newErrorCode = 18;

        }

        else if(FC.Error[1] &  FC_ERROR1_MIXER)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"Mixer Error");

                newErrorCode = 19;

        }

        else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"no GPS communication");

                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX;

                UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT;

                newErrorCode = 5;

                StopNavigation = 1;

        }

        else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"compass not calibr.");

                newErrorCode = 31;

                StopNavigation = 1;

                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE;

        }

        else if(Compass_Heading < 0)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"bad compass value ");

                newErrorCode = 6;

                StopNavigation = 1;

                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE;

        }

        else if((FC.Error[1] &  FC_ERROR1_SPI_RX))

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"FC spi rx error ");

                newErrorCode = 8;

                StopNavigation = 1;

        }

        else if(FC.Error[0] &  FC_ERROR0_CAREFREE)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"FC: Carefree Error");

                newErrorCode = 20;

        }

        else if(FC.BAT_Voltage < 45)

        {

         LED_RED_ON;

         sprintf(ErrorMSG,"ERR:Power Supply");

         newErrorCode = 41;

        }

        else

        if(FC.Error[1] & FC_ERROR1_RC_VOLTAGE)

        {

         LED_RED_ON;

         sprintf(ErrorMSG,"ERR: 5V RC-Supply");

         newErrorCode = 40;

        }

        else if(FC.Error[1] &  FC_ERROR1_PPM)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"RC Signal lost ");

                newErrorCode = 7;

        }

        else if(ErrorGpsFixLost)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"GPS Fix lost    ");

                newErrorCode = 21;

        }

        else if(ErrorDisturbedEarthMagnetField)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"Magnet error    ");

                newErrorCode = 22;

                DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC;

                UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE;

        }

        else if(((ErrorCheck_BL_MinOfMaxPWM == 40 && (TimeSinceMotorStart > 3))  || (ErrorCheck_BL_MinOfMaxPWM == 39)) && !ErrorCode)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"ERR:Motor restart  ");

                newErrorCode = 23;

                DebugOut.StatusRed |= AMPEL_BL;

        }

        else if(BL_MinOfMaxPWM < 30 && !ErrorCode)

        {

                u16 i;

                for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break;

                LED_RED_ON;

                sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM);

                newErrorCode = 32;

                DebugOut.StatusRed |= AMPEL_BL;

        }

        else if(ErrorCheck_BL_MinOfMaxPWM < 248 && (TimeSinceMotorStart > 3) && !ErrorCode)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"ERR:BL Limitation   ");

                newErrorCode = 24;

                DebugOut.StatusRed |= AMPEL_BL;

        }

        else if((NCFlags & NC_FLAG_RANGE_LIMIT) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"ERR:GPS WP range ");

                newErrorCode = 25;

                DebugOut.StatusRed |= AMPEL_NC;

        }

        else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY))

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"ERR:No SD-Card  ");

                newErrorCode = 26;

                DebugOut.StatusRed |= AMPEL_NC;

        }

        else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"ERR:SD Logging abort");

                newErrorCode = 27;

                DebugOut.StatusRed |= AMPEL_NC;

                SD_LoggingError = 0;

        }

        else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY))

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"ERR:Max Altitude ");

                newErrorCode = 29;

                DebugOut.StatusRed |= AMPEL_NC;

        }

        else if(Parameter.GlobalConfig3 & CFG3_NO_GPSFIX_NO_START && !(NCFlags & NC_FLAG_GPS_OK) && ((FC.StatusFlags & (FC_STATUS_START | FC_STATUS_MOTOR_RUN)) || (FC.StickGas < -50 && FC.StickYaw < -50)))

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"No GPS Fix      ");

                newErrorCode = 30;

        }

        else if((FreqNewGpsData <= 35 || FreqNewGpsData > 60) && TimeSinceMotorStart > 15)

        {

                LED_RED_ON;

                sprintf(ErrorMSG,"GPS Update rate ");

                newErrorCode = 38;

        }

        else if(NC_GPS_ModeCharacter == 'F')

        {                                                                

                sprintf(ErrorMSG,"FAILSAFE pos.!  ");

                newErrorCode = 35;

        }

        else if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_ERROR)

        {                                                                

                sprintf(ErrorMSG,"ERR:Redundancy  ");

                newErrorCode = 36;

        }

        else if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_TEST)

        {                                                                

                sprintf(ErrorMSG,"Redundancy test ");

                newErrorCode = 37;

        }

        else if(CanbusTimeOut == 1)

        {                                                                

                sprintf(ErrorMSG,"ERR: Canbus");

CanbusInit();

                newErrorCode = 39;

        }

        else

        if(FC.Error[1] & FC_ERROR1_ACC_NOT_CAL)

        {

         LED_RED_ON;

         sprintf(ErrorMSG,"ACC not calib.");

         newErrorCode = 42;

        }

        else // no error occured

        {

                StopNavigation = 0;

                LED_RED_OFF;

                if(no_error_delay) { no_error_delay--;  }

                else

                {

                        sprintf(ErrorMSG,"No Error            ");

                        ErrorCode = 0;

                }

        }

    if(newErrorCode)

         {

          if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running

          ErrorCode = newErrorCode;

         }

 FC.Error[0] = 0;

 FC.Error[1] = 0;

 FC.Error[2] = 0;

 FC.Error[3] = 0;

 FC.Error[4] = 0;

 ErrorGpsFixLost = 0;

 ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM;

}

unsigned char RAM_Checksum(unsigned char* pBuffer, u16 len)

{

        u8 crc = 0xAA;

        u16 i;

        for(i=0; i<len; i++) crc += pBuffer[i];

        return crc;

}

u8 Polling(void)

{

        static u8 running = 0, oldFcFlags = 0, count5sec, TimeoutGPS_Process;

        static u32 old_ms = 0;

        if(running) {/*DebugOut.Analog[]++;*/ return(1);};

        running = 1;

        if(CountMilliseconds != old_ms)  // 1 ms

        {

                if(CanbusTimeOut >= 2) CanbusTimeOut--;

                old_ms = CountMilliseconds;

                Compass_Update();               // update compass communication

                Analog_Update();                // get new ADC values

                CalcHeadFree();

                if(UART_VersionInfo.HWMajor >= 30) ProcessCanBus();

                if(!CheckDelay(SPI0_Timeout)) TimeoutGPS_Process = 0;

                else if(CountMilliseconds - SPI0_Timeout > 30000000L) SPI0_Timeout = CountMilliseconds; // avoid too long overflows

                if(++TimeoutGPS_Process >= 25)

                 {

                  GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected

                  TimeoutGPS_Process = 0;

                 }

        }

        SPI0_UpdateBuffer();    // also calls the GPS-functions

        UART0_ProcessRxData();  // GPS process request

        UART0_TransmitTxData(); // GPS send answer

        UART1_ProcessRxData();  // PC process request

        UART1_TransmitTxData(); // PC send answer

        UART2_TransmitTxData(); // FC send answer

        if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) TimeSinceMotorStart = 0;

        if(HugeBlockFromFC.WhoAmI == 1) // contains eeprom-Data

         {

      u8 crc1, crc2;

          crc1 = HugeBlockFromFC.Data[sizeof(EE_Parameter)-1];                                                  // contains the EE_Parameter.crc

          crc2 = RAM_Checksum((u8 *)(&HugeBlockFromFC.Data), sizeof(EE_Parameter)-1);   // calculates the current crc

          if(crc1 == crc2)

           {

                memcpy(&EE_Parameter, (u8 *) HugeBlockFromFC.Data, sizeof(EE_Parameter));

                RequestConfigFromFC = 0;

           }

                HugeBlockFromFC.WhoAmI = 0;

         }

    if(FCCalibActive)

            {

             count5sec = 0;

             FreqNewGpsData = 50;

             CountNewGpsDataIn5Sec = 25;

             CountGpsProcessedIn5Sec = 0;

             TimerCheckError = SetDelay(1000);

            }

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

        if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start

        {

                if(CheckDelay(TimerCheckError))

                {

                        if(!BLITZ_CONNECTED) BlitzSchuhConnected = 1; else BlitzSchuhConnected = 0;

                        TimerCheckError = SetDelay(1000);

                        if(CompassValueErrorCount) CompassValueErrorCount--;

                        if(++count5sec == 5)

                        {

                                FreqGpsNavProcessed = CountGpsProcessedIn5Sec * 2; //400 = 40Hz

                                FreqNewGpsData = CountNewGpsDataIn5Sec;                    // 50 = 5,0Hz

                                count5sec = 0;

                                CountGpsProcessedIn5Sec = 0;

                                CountNewGpsDataIn5Sec = FreqNewGpsData / 2;

                                ConfirmGpsUpdateRate(FreqNewGpsData);

                        }

                }

                oldFcFlags = FC.StatusFlags;

//              if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected

                if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors();

                if(FC.StatusFlags & FC_STATUS_FLY)

                 {

                  NaviData.FlyingTime++; // we want to count the battery-time

                  TimeSinceMotorStart++;

                 }

                if(SerialLinkOkay) SerialLinkOkay--;

                if(SerialLinkOkay < 250 - 6) NCFlags |= NC_FLAG_NOSERIALLINK; // 6 seconds timeout for serial communication

                else NCFlags &= ~NC_FLAG_NOSERIALLINK;

                if(StopNavigation && (Parameter.NaviGpsModeControl >=  50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;

        }

        running = 0;

//      if(!PollingTimeout) DebugOut.Analog[17]++;

        return(0);

}

// the handler will be cyclic called by the timer 1 ISR

// used is for critical timing parts that normaly would handled

// within the main loop that could block longer at logging activities

void EXTIT3_IRQHandler(void)  // 1ms - Takt

{

        IENABLE;

        VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq

        if(PollingTimeout == 0)

        {

                PollingTimeout = 5;

                //if(Polling() == 0) DebugOut.Analog[]++;

                Polling();

        }

        VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit

        VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq

        IDISABLE;

        VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register

}

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

int main(void)

{

//      static u32 ftimer =0;

//      static u8 fstate = 0;

//      static File_t* f = NULL;

        /* 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.

        VIC_InitDefaultVectors();

        // initialize timer 1 for System Clock and delay rountines

        TIMER1_Init();

        // initialize the LEDs (needs Timer 1)

        Led_Init();

        // initialize the debug UART1

        UART1_Init();

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

        // initialize timer 2 for servo outputs

        //TIMER2_Init();

        // initialize UART2 to FLIGHTCTRL

        UART2_Init();

        // initialize UART0 (to MKGPS or MK3MAG)

        UART0_Init();

        // initialize adc

        Analog_Init();

        // initialize SPI0 to FC

        SPI0_Init();

        // initialize i2c busses (needs Timer 1)

        I2CBus_Init(I2C0);

        I2CBus_Init(I2C1);

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

        Fat16_Init();

        // initialize NC params

        NCParams_Init();

        // initialize the settings

        Settings_Init();

        // initialize logging (needs settings)

        Logging_Init();

//UART_VersionInfo.HWMajor = 30;

        LED_GRN_ON;

        TimerCheckError = SetDelay(3000);

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

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

        GetNaviCtrlVersion();

        DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag

        DebugOut.StatusRed = 0x00;

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

        Compass_Init();

#ifdef FOLLOW_ME

        TransmitAlsoToFC = 1;

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

        UART1_PutString("\n\r FOLLOW-ME Transmitter only!");

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

        TransmitAlsoToFC = 0;

#else

        SPI0_GetFlightCtrlVersion();

        if(FC_Version.Compatible != FC_SPI_COMPATIBLE)

        {

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

                LED_RED_ON;

        }

#endif

if(IamMaster == SLAVE)  UART1_PutString(" SLAVE\r\n");

if(IamMaster == MASTER) UART1_PutString(" MASTER\r\n");

        if(UBX_Setup() == 0) UBX_Setup(); // inits the GPS-Module via ubx -> try twice

        GPS_Init();

        // ---------- Prepare the isr driven

        // set to absolute lowest priority

    VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);

        // enable interrupts

    VIC_ITCmd(EXTIT3_ITLine, ENABLE);

        Debug_OK("START");

        UART1_PutString("\r\n");

        fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer

        LED_GRN_ON;

        LED_RED_OFF;

    Settings_GetParamValue(PID_SEND_NMEA,(u16 *) &NMEA_Interval);

        UART1_PutString("\r\n");

        CompassValueErrorCount = 0;

        I2CBus(Compass_I2CPort)->Timeout = SetDelay(3000);

        // Intilizes the Canbus

        if(UART_VersionInfo.HWMajor >= 30)

         {

           EXT2_Init(); // External Output EXT2

           CanbusInit();

         }

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

        for (;;) // the endless main loop

        {

                PollingTimeout = 5;

                Polling();

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

                if(FromFC_LoadWP_List)

                {

                   WPL_Store.Index = (FromFC_LoadWP_List & ~0x80);

                   if(WPL_Store.Index <= ToFC_MaxWpListIndex)

                   {

                                if(PointList_ReadFromFile(&WPL_Store) == WPL_OK)

                                {

                                        if(FromFC_LoadWP_List & 0x80)// -> load relative

                                        {

                                         u32 angle;

                                         angle = (360 + GyroCompassCorrected/10 + Parameter.OrientationAngle * 15) % 360;

                                                if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10)

                                        {  // take actual position

                                                if(!PointList_Move(1,&(GPSData.Position),angle)) PointList_Clear();     // try to move wp-list so that 1st entry matches the current position 

                                                }

                                        else

                                                {  // take last target position

                                                if(!PointList_Move(1, &(NaviData.TargetPosition),angle)) PointList_Clear();     // try to move wp-list so that 1st entry matches the current position 

                                                }

                                        }

                                        if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE);

                                        GPS_pWaypoint = PointList_WPBegin(); // updates POI index