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| Rev | Author | Line No. | Line |
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| 1 | ingob | 1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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| 3 | /*#######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + www.MikroKopter.com |
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| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
| 8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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| 9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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| 489 | killagreg | 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| 360 | holgerb | 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| 12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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| 1 | ingob | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| 15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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| 16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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| 17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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| 18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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| 19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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| 489 | killagreg | 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| 360 | holgerb | 22 | // + des Mitverschuldens offen. |
| 23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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| 24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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| 25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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| 26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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| 27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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| 28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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| 29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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| 30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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| 1 | ingob | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 32 | // + Software LICENSING TERMS |
| 1 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| 489 | killagreg | 35 | // + 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 |
| 360 | holgerb | 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| 37 | // + The Software may only be used with the Licensor's products. |
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| 38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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| 39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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| 40 | // + agreement shall be the property of the Licensor. |
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| 41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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| 42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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| 43 | // + The customer shall be responsible for taking reasonable precautions |
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| 44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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| 45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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| 46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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| 47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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| 48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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| 49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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| 50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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| 51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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| 52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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| 53 | // + #### END OF LICENSING TERMS #### |
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| 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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| 1 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 41 | ingob | 56 | //#define MCLK96MHZ |
| 1 | ingob | 57 | const unsigned long _Main_Crystal = 25000; |
| 491 | killagreg | 58 | //#include <stdio.h> |
| 693 | holgerb | 59 | #include <string.h> |
| 41 | ingob | 60 | #include "91x_lib.h" |
| 61 | #include "led.h" |
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| 62 | #include "uart0.h" |
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| 63 | #include "uart1.h" |
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| 64 | #include "uart2.h" |
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| 215 | killagreg | 65 | #include "gps.h" |
| 489 | killagreg | 66 | #include "i2c.h" |
| 242 | killagreg | 67 | #include "compass.h" |
| 426 | holgerb | 68 | #include "ncmag.h" |
| 119 | killagreg | 69 | #include "timer1.h" |
| 70 | #include "timer2.h" |
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| 134 | killagreg | 71 | #include "analog.h" |
| 41 | ingob | 72 | #include "spi_slave.h" |
| 73 | #include "fat16.h" |
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| 74 | #include "sdc.h" |
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| 82 | killagreg | 75 | #include "logging.h" |
| 156 | killagreg | 76 | #include "params.h" |
| 88 | killagreg | 77 | #include "settings.h" |
| 154 | killagreg | 78 | #include "config.h" |
| 1 | ingob | 79 | #include "main.h" |
| 250 | ingob | 80 | #include "debug.h" |
| 254 | killagreg | 81 | #include "eeprom.h" |
| 350 | holgerb | 82 | #include "ssc.h" |
| 362 | holgerb | 83 | #include "sdc.h" |
| 380 | holgerb | 84 | #include "uart1.h" |
| 688 | holgerb | 85 | #include "canbus.h" |
| 254 | killagreg | 86 | |
| 427 | killagreg | 87 | |
| 314 | killagreg | 88 | #ifdef FOLLOW_ME |
| 89 | u8 TransmitAlsoToFC = 0; |
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| 90 | #endif |
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| 41 | ingob | 91 | u32 TimerCheckError; |
| 489 | killagreg | 92 | u8 ErrorCode = 0; |
| 41 | ingob | 93 | u16 BeepTime; |
| 92 | killagreg | 94 | u8 NCFlags = 0; |
| 153 | killagreg | 95 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
| 328 | holgerb | 96 | u8 ErrorGpsFixLost = 0; |
| 513 | killagreg | 97 | u8 FromFC_LoadWP_List = 0, FromFC_Load_SinglePoint = 0, FromFC_Save_SinglePoint = 0; |
| 531 | holgerb | 98 | u8 ToFC_MaxWpListIndex = 4; |
| 255 | killagreg | 99 | u8 ClearFCStatusFlags = 0; |
| 41 | ingob | 100 | u8 StopNavigation = 0; |
| 378 | holgerb | 101 | volatile u32 PollingTimeout = 10000; |
| 41 | ingob | 102 | Param_t Parameter; |
| 699 | holgerb | 103 | Partner_t Partner; |
| 78 | holgerb | 104 | volatile FC_t FC; |
| 378 | holgerb | 105 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
| 400 | holgerb | 106 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
| 663 | holgerb | 107 | u32 CountGpsProcessedIn5Sec = 50,CountNewGpsDataIn5Sec = 25, FreqGpsNavProcessed = 0, FreqNewGpsData = 0; |
| 504 | holgerb | 108 | u8 NewWPL_Name = 0; |
| 532 | holgerb | 109 | u32 MaxWP_Radius_in_m = 0; |
| 41 | ingob | 110 | s8 ErrorMSG[25]; |
| 699 | holgerb | 111 | s8 PartnerErrorMSG[25] = " --- \0"; |
| 533 | holgerb | 112 | u32 TimeSinceMotorStart = 0; |
| 699 | holgerb | 113 | u8 IamMaster = NOTHING; // for Master/Slave Redundance |
| 41 | ingob | 114 | |
| 1 | ingob | 115 | //---------------------------------------------------------------------------------------------------- |
| 41 | ingob | 116 | void SCU_Config(void) |
| 1 | ingob | 117 | { |
| 41 | ingob | 118 | /* configure PLL and set it as master clock source */ |
| 119 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
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| 120 | SCU_PLLCmd(DISABLE); // now disable the PLL |
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| 121 | #ifdef MCLK96MHZ |
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| 122 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
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| 123 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
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| 124 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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| 125 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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| 126 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
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| 127 | #else |
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| 128 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
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| 129 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
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| 130 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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| 131 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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| 132 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
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| 133 | #endif |
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| 134 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
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| 135 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
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| 136 | } |
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| 1 | ingob | 137 | |
| 41 | ingob | 138 | //---------------------------------------------------------------------------------------------------- |
| 139 | void GetNaviCtrlVersion(void) |
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| 1 | ingob | 140 | { |
| 41 | ingob | 141 | u8 msg[25]; |
| 270 | killagreg | 142 | |
| 530 | holgerb | 143 | 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); |
| 110 | killagreg | 144 | UART1_PutString(msg); |
| 1 | ingob | 145 | } |
| 146 | |||
| 147 | //---------------------------------------------------------------------------------------------------- |
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| 231 | holgerb | 148 | |
| 41 | ingob | 149 | void CheckErrors(void) |
| 150 | { |
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| 516 | holgerb | 151 | static s32 no_error_delay = 0; |
| 328 | holgerb | 152 | s32 newErrorCode = 0; |
| 232 | killagreg | 153 | UART_VersionInfo.HardwareError[0] = 0; |
| 231 | holgerb | 154 | |
| 489 | killagreg | 155 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
| 338 | holgerb | 156 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
| 231 | holgerb | 157 | |
| 338 | holgerb | 158 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
| 159 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
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| 232 | killagreg | 160 | |
| 338 | holgerb | 161 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
| 162 | else DebugOut.StatusRed &= ~AMPEL_NC; |
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| 163 | |||
| 483 | holgerb | 164 | |
| 489 | killagreg | 165 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
| 41 | ingob | 166 | { |
| 489 | killagreg | 167 | LED_RED_ON; |
| 472 | holgerb | 168 | sprintf(ErrorMSG,"no compass communica"); |
| 489 | killagreg | 169 | //Reset Compass communication |
| 501 | holgerb | 170 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
| 489 | killagreg | 171 | Compass_Init(); |
| 472 | holgerb | 172 | newErrorCode = 4; |
| 41 | ingob | 173 | StopNavigation = 1; |
| 472 | holgerb | 174 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
| 175 | DebugOut.StatusRed |= AMPEL_COMPASS; |
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| 41 | ingob | 176 | } |
| 488 | holgerb | 177 | else if(CompassValueErrorCount > 30) |
| 178 | { |
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| 179 | LED_RED_ON; |
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| 180 | sprintf(ErrorMSG,"compass sensor error"); |
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| 181 | newErrorCode = 34; |
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| 182 | StopNavigation = 1; |
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| 183 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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| 501 | holgerb | 184 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
| 489 | killagreg | 185 | Compass_Init(); |
| 488 | holgerb | 186 | } |
| 489 | killagreg | 187 | else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
| 188 | { |
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| 488 | holgerb | 189 | sprintf(ErrorMSG,"Calibrate... "); |
| 489 | killagreg | 190 | newErrorCode = 0; |
| 488 | holgerb | 191 | ErrorCode = 0; |
| 192 | no_error_delay = 1; |
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| 489 | killagreg | 193 | } |
| 194 | else if(CheckDelay(SPI0_Timeout)) |
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| 483 | holgerb | 195 | { |
| 489 | killagreg | 196 | LED_RED_ON; |
| 472 | holgerb | 197 | sprintf(ErrorMSG,"no FC communication "); |
| 198 | newErrorCode = 3; |
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| 199 | StopNavigation = 1; |
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| 200 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
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| 201 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
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| 202 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
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| 203 | } |
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| 41 | ingob | 204 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
| 205 | { |
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| 206 | LED_RED_ON; |
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| 318 | holgerb | 207 | #ifndef FOLLOW_ME |
| 41 | ingob | 208 | sprintf(ErrorMSG,"FC not compatible "); |
| 318 | holgerb | 209 | #else |
| 210 | sprintf(ErrorMSG,"! FollowMe only ! "); |
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| 211 | #endif |
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| 328 | holgerb | 212 | newErrorCode = 1; |
| 41 | ingob | 213 | StopNavigation = 1; |
| 256 | killagreg | 214 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
| 338 | holgerb | 215 | DebugOut.StatusRed |= AMPEL_NC; |
| 41 | ingob | 216 | } |
| 255 | killagreg | 217 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
| 231 | holgerb | 218 | { |
| 219 | LED_RED_ON; |
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| 220 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
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| 328 | holgerb | 221 | newErrorCode = 10; |
| 232 | killagreg | 222 | } |
| 255 | killagreg | 223 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
| 231 | holgerb | 224 | { |
| 225 | LED_RED_ON; |
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| 226 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
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| 328 | holgerb | 227 | newErrorCode = 11; |
| 232 | killagreg | 228 | } |
| 255 | killagreg | 229 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
| 231 | holgerb | 230 | { |
| 231 | LED_RED_ON; |
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| 232 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
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| 328 | holgerb | 233 | newErrorCode = 12; |
| 232 | killagreg | 234 | } |
| 255 | killagreg | 235 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
| 231 | holgerb | 236 | { |
| 237 | LED_RED_ON; |
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| 238 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
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| 328 | holgerb | 239 | newErrorCode = 13; |
| 232 | killagreg | 240 | } |
| 255 | killagreg | 241 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
| 231 | holgerb | 242 | { |
| 243 | LED_RED_ON; |
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| 244 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
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| 328 | holgerb | 245 | newErrorCode = 14; |
| 232 | killagreg | 246 | } |
| 255 | killagreg | 247 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
| 231 | holgerb | 248 | { |
| 249 | LED_RED_ON; |
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| 327 | holgerb | 250 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
| 328 | holgerb | 251 | newErrorCode = 15; |
| 232 | killagreg | 252 | } |
| 351 | holgerb | 253 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
| 254 | { |
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| 255 | LED_RED_ON; |
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| 256 | sprintf(ErrorMSG,"ERR:Flying range!"); |
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| 257 | newErrorCode = 28; |
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| 258 | } |
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| 255 | killagreg | 259 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
| 231 | holgerb | 260 | { |
| 489 | killagreg | 261 | LED_RED_ON; |
| 327 | holgerb | 262 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
| 328 | holgerb | 263 | newErrorCode = 16; |
| 232 | killagreg | 264 | } |
| 255 | killagreg | 265 | else if(FC.Error[1] & FC_ERROR1_I2C) |
| 231 | holgerb | 266 | { |
| 267 | LED_RED_ON; |
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| 327 | holgerb | 268 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
| 328 | holgerb | 269 | newErrorCode = 17; |
| 232 | killagreg | 270 | } |
| 255 | killagreg | 271 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
| 231 | holgerb | 272 | { |
| 273 | LED_RED_ON; |
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| 274 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
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| 328 | holgerb | 275 | newErrorCode = 18; |
| 232 | killagreg | 276 | } |
| 255 | killagreg | 277 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
| 231 | holgerb | 278 | { |
| 279 | LED_RED_ON; |
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| 280 | sprintf(ErrorMSG,"Mixer Error"); |
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| 328 | holgerb | 281 | newErrorCode = 19; |
| 232 | killagreg | 282 | } |
| 350 | holgerb | 283 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
| 41 | ingob | 284 | { |
| 285 | LED_RED_ON; |
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| 548 | holgerb | 286 | sprintf(ErrorMSG,"no GPS communication"); |
| 287 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
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| 288 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
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| 289 | newErrorCode = 5; |
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| 41 | ingob | 290 | StopNavigation = 1; |
| 548 | holgerb | 291 | //UBX_Setup(); |
| 292 | //UBX_Timeout = SetDelay(500); |
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| 41 | ingob | 293 | } |
| 426 | holgerb | 294 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
| 295 | { |
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| 296 | LED_RED_ON; |
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| 297 | sprintf(ErrorMSG,"compass not calibr."); |
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| 298 | newErrorCode = 31; |
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| 299 | StopNavigation = 1; |
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| 300 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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| 301 | } |
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| 254 | killagreg | 302 | else if(Compass_Heading < 0) |
| 41 | ingob | 303 | { |
| 304 | LED_RED_ON; |
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| 305 | sprintf(ErrorMSG,"bad compass value "); |
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| 328 | holgerb | 306 | newErrorCode = 6; |
| 41 | ingob | 307 | StopNavigation = 1; |
| 256 | killagreg | 308 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
| 41 | ingob | 309 | } |
| 255 | killagreg | 310 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
| 199 | killagreg | 311 | { |
| 312 | LED_RED_ON; |
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| 313 | sprintf(ErrorMSG,"FC spi rx error "); |
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| 328 | holgerb | 314 | newErrorCode = 8; |
| 213 | killagreg | 315 | StopNavigation = 1; |
| 199 | killagreg | 316 | } |
| 255 | killagreg | 317 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
| 231 | holgerb | 318 | { |
| 319 | LED_RED_ON; |
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| 320 | sprintf(ErrorMSG,"FC: Carefree Error"); |
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| 328 | holgerb | 321 | newErrorCode = 20; |
| 232 | killagreg | 322 | } |
| 255 | killagreg | 323 | else if(FC.Error[1] & FC_ERROR1_PPM) |
| 41 | ingob | 324 | { |
| 325 | LED_RED_ON; |
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| 326 | sprintf(ErrorMSG,"RC Signal lost "); |
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| 328 | holgerb | 327 | newErrorCode = 7; |
| 41 | ingob | 328 | } |
| 489 | killagreg | 329 | else if(ErrorGpsFixLost) |
| 328 | holgerb | 330 | { |
| 489 | killagreg | 331 | LED_RED_ON; |
| 332 | sprintf(ErrorMSG,"GPS Fix lost "); |
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| 333 | newErrorCode = 21; |
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| 328 | holgerb | 334 | } |
| 330 | holgerb | 335 | else if(ErrorDisturbedEarthMagnetField) |
| 336 | { |
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| 489 | killagreg | 337 | LED_RED_ON; |
| 338 | sprintf(ErrorMSG,"Magnet error "); |
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| 339 | newErrorCode = 22; |
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| 340 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
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| 341 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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| 330 | holgerb | 342 | } |
| 533 | holgerb | 343 | else if(((ErrorCheck_BL_MinOfMaxPWM == 40 && (TimeSinceMotorStart > 3)) || (ErrorCheck_BL_MinOfMaxPWM == 39)) && !ErrorCode) |
| 338 | holgerb | 344 | { |
| 489 | killagreg | 345 | LED_RED_ON; |
| 346 | sprintf(ErrorMSG,"ERR:Motor restart "); |
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| 347 | newErrorCode = 23; |
||
| 348 | DebugOut.StatusRed |= AMPEL_BL; |
||
| 338 | holgerb | 349 | } |
| 472 | holgerb | 350 | else if(BL_MinOfMaxPWM < 30 && !ErrorCode) |
| 338 | holgerb | 351 | { |
| 489 | killagreg | 352 | u16 i; |
| 516 | holgerb | 353 | for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; |
| 489 | killagreg | 354 | LED_RED_ON; |
| 355 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
||
| 516 | holgerb | 356 | newErrorCode = 32; |
| 357 | DebugOut.StatusRed |= AMPEL_BL; |
||
| 472 | holgerb | 358 | } |
| 533 | holgerb | 359 | else if(ErrorCheck_BL_MinOfMaxPWM < 248 && (TimeSinceMotorStart > 3) && !ErrorCode) |
| 472 | holgerb | 360 | { |
| 489 | killagreg | 361 | LED_RED_ON; |
| 362 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
||
| 363 | newErrorCode = 24; |
||
| 364 | DebugOut.StatusRed |= AMPEL_BL; |
||
| 338 | holgerb | 365 | } |
| 491 | killagreg | 366 | else if((NCFlags & NC_FLAG_RANGE_LIMIT) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
| 348 | holgerb | 367 | { |
| 489 | killagreg | 368 | LED_RED_ON; |
| 532 | holgerb | 369 | sprintf(ErrorMSG,"ERR:GPS WP range "); |
| 489 | killagreg | 370 | newErrorCode = 25; |
| 371 | DebugOut.StatusRed |= AMPEL_NC; |
||
| 348 | holgerb | 372 | } |
| 397 | holgerb | 373 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
| 350 | holgerb | 374 | { |
| 489 | killagreg | 375 | LED_RED_ON; |
| 376 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
||
| 377 | newErrorCode = 26; |
||
| 378 | DebugOut.StatusRed |= AMPEL_NC; |
||
| 350 | holgerb | 379 | } |
| 383 | holgerb | 380 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
| 351 | holgerb | 381 | { |
| 489 | killagreg | 382 | LED_RED_ON; |
| 383 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
||
| 384 | newErrorCode = 27; |
||
| 385 | DebugOut.StatusRed |= AMPEL_NC; |
||
| 386 | SD_LoggingError = 0; |
||
| 351 | holgerb | 387 | } |
| 355 | holgerb | 388 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
| 389 | { |
||
| 489 | killagreg | 390 | LED_RED_ON; |
| 391 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
||
| 392 | newErrorCode = 29; |
||
| 393 | DebugOut.StatusRed |= AMPEL_NC; |
||
| 355 | holgerb | 394 | } |
| 516 | holgerb | 395 | 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))) |
| 489 | killagreg | 396 | { |
| 397 | LED_RED_ON; |
||
| 398 | sprintf(ErrorMSG,"No GPS Fix "); |
||
| 399 | newErrorCode = 30; |
||
| 398 | holgerb | 400 | } |
| 663 | holgerb | 401 | else if((FreqNewGpsData <= 35 || FreqNewGpsData > 60) && TimeSinceMotorStart > 15) |
| 646 | holgerb | 402 | { |
| 403 | LED_RED_ON; |
||
| 659 | holgerb | 404 | sprintf(ErrorMSG,"GPS Update rate "); |
| 405 | newErrorCode = 38; |
||
| 646 | holgerb | 406 | } |
| 615 | holgerb | 407 | else if(NC_GPS_ModeCharacter == 'F') |
| 408 | { |
||
| 409 | sprintf(ErrorMSG,"FAILSAFE pos.! "); |
||
| 410 | newErrorCode = 35; |
||
| 411 | } |
||
| 412 | else if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_ERROR) |
||
| 413 | { |
||
| 414 | sprintf(ErrorMSG,"ERR:Redundancy "); |
||
| 415 | newErrorCode = 36; |
||
| 416 | } |
||
| 417 | else if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_TEST) |
||
| 418 | { |
||
| 419 | sprintf(ErrorMSG,"Redundancy test "); |
||
| 420 | newErrorCode = 37; |
||
| 421 | } |
||
| 699 | holgerb | 422 | else if(CanbusTimeOut == 1) |
| 423 | { |
||
| 424 | sprintf(ErrorMSG,"ERR: Canbus"); |
||
| 425 | newErrorCode = 39; |
||
| 426 | } |
||
| 41 | ingob | 427 | else // no error occured |
| 428 | { |
||
| 429 | StopNavigation = 0; |
||
| 430 | LED_RED_OFF; |
||
| 489 | killagreg | 431 | if(no_error_delay) { no_error_delay--; } |
| 432 | else |
||
| 433 | { |
||
| 434 | sprintf(ErrorMSG,"No Error "); |
||
| 435 | ErrorCode = 0; |
||
| 436 | } |
||
| 41 | ingob | 437 | } |
| 328 | holgerb | 438 | |
| 516 | holgerb | 439 | if(newErrorCode) |
| 440 | { |
||
| 441 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
||
| 442 | ErrorCode = newErrorCode; |
||
| 443 | } |
||
| 444 | FC.Error[0] = 0; |
||
| 445 | FC.Error[1] = 0; |
||
| 446 | FC.Error[2] = 0; |
||
| 447 | FC.Error[3] = 0; |
||
| 448 | FC.Error[4] = 0; |
||
| 449 | ErrorGpsFixLost = 0; |
||
| 530 | holgerb | 450 | ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
| 41 | ingob | 451 | } |
| 24 | StephanB | 452 | |
| 693 | holgerb | 453 | unsigned char RAM_Checksum(unsigned char* pBuffer, u16 len) |
| 454 | { |
||
| 455 | u8 crc = 0xAA; |
||
| 456 | u16 i; |
||
| 457 | for(i=0; i<len; i++) crc += pBuffer[i]; |
||
| 458 | return crc; |
||
| 459 | } |
||
| 378 | holgerb | 460 | |
| 461 | |||
| 484 | holgerb | 462 | u8 Polling(void) |
| 378 | holgerb | 463 | { |
| 564 | holgerb | 464 | static u8 running = 0, oldFcFlags = 0, count5sec, TimeoutGPS_Process; |
| 489 | killagreg | 465 | static u32 old_ms = 0; |
| 466 | |||
| 516 | holgerb | 467 | if(running) {/*DebugOut.Analog[]++;*/ return(1);}; |
| 489 | killagreg | 468 | running = 1; |
| 469 | |||
| 470 | if(CountMilliseconds != old_ms) // 1 ms |
||
| 471 | { |
||
| 699 | holgerb | 472 | if(CanbusTimeOut >= 2) CanbusTimeOut--; |
| 483 | holgerb | 473 | old_ms = CountMilliseconds; |
| 474 | Compass_Update(); // update compass communication |
||
| 475 | Analog_Update(); // get new ADC values |
||
| 476 | CalcHeadFree(); |
||
| 688 | holgerb | 477 | if(UART_VersionInfo.HWMajor >= 30) ProcessCanBus(); |
| 564 | holgerb | 478 | if(!CheckDelay(SPI0_Timeout)) TimeoutGPS_Process = 0; |
| 479 | else if(CountMilliseconds - SPI0_Timeout > 30000000L) SPI0_Timeout = CountMilliseconds; // avoid too long overflows |
||
| 480 | if(++TimeoutGPS_Process >= 25) |
||
| 481 | { |
||
| 482 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
||
| 483 | TimeoutGPS_Process = 0; |
||
| 484 | } |
||
| 483 | holgerb | 485 | } |
| 488 | holgerb | 486 | |
| 489 | killagreg | 487 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
| 488 | UART0_ProcessRxData(); // GPS process request |
||
| 489 | UART0_TransmitTxData(); // GPS send answer |
||
| 490 | UART1_ProcessRxData(); // PC process request |
||
| 491 | UART1_TransmitTxData(); // PC send answer |
||
| 492 | UART2_TransmitTxData(); // FC send answer |
||
| 493 | |||
| 533 | holgerb | 494 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) TimeSinceMotorStart = 0; |
| 495 | |||
| 693 | holgerb | 496 | if(HugeBlockFromFC.WhoAmI == 1) // contains eeprom-Data |
| 497 | { |
||
| 498 | u8 crc1, crc2; |
||
| 499 | crc1 = HugeBlockFromFC.Data[sizeof(EE_Parameter)-1]; // contains the EE_Parameter.crc |
||
| 500 | crc2 = RAM_Checksum((u8 *)(&HugeBlockFromFC.Data), sizeof(EE_Parameter)-1); // calculates the current crc |
||
| 501 | if(crc1 == crc2) |
||
| 502 | { |
||
| 503 | memcpy(&EE_Parameter, (u8 *) HugeBlockFromFC.Data, sizeof(EE_Parameter)); |
||
| 504 | RequestConfigFromFC = 0; |
||
| 505 | } |
||
| 506 | HugeBlockFromFC.WhoAmI = 0; |
||
| 507 | } |
||
| 508 | |||
| 663 | holgerb | 509 | if(FCCalibActive) |
| 510 | { |
||
| 511 | count5sec = 0; |
||
| 512 | FreqNewGpsData = 50; |
||
| 513 | CountNewGpsDataIn5Sec = 25; |
||
| 514 | CountGpsProcessedIn5Sec = 0; |
||
| 515 | TimerCheckError = SetDelay(1000); |
||
| 516 | } |
||
| 517 | |||
| 489 | killagreg | 518 | // ---------------- Error Check Timing ---------------------------- |
| 519 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
||
| 520 | { |
||
| 521 | if(CheckDelay(TimerCheckError)) |
||
| 380 | holgerb | 522 | { |
| 489 | killagreg | 523 | TimerCheckError = SetDelay(1000); |
| 524 | if(CompassValueErrorCount) CompassValueErrorCount--; |
||
| 525 | if(++count5sec == 5) |
||
| 526 | { |
||
| 663 | holgerb | 527 | FreqGpsNavProcessed = CountGpsProcessedIn5Sec * 2; //400 = 40Hz |
| 528 | FreqNewGpsData = CountNewGpsDataIn5Sec; // 50 = 5,0Hz |
||
| 529 | |||
| 453 | holgerb | 530 | count5sec = 0; |
| 489 | killagreg | 531 | CountGpsProcessedIn5Sec = 0; |
| 659 | holgerb | 532 | CountNewGpsDataIn5Sec = FreqNewGpsData / 2; |
| 663 | holgerb | 533 | ConfirmGpsUpdateRate(FreqNewGpsData); |
| 489 | killagreg | 534 | } |
| 380 | holgerb | 535 | } |
| 489 | killagreg | 536 | oldFcFlags = FC.StatusFlags; |
| 564 | holgerb | 537 | // if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
| 489 | killagreg | 538 | |
| 539 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
||
| 540 | |||
| 533 | holgerb | 541 | if(FC.StatusFlags & FC_STATUS_FLY) |
| 542 | { |
||
| 543 | NaviData.FlyingTime++; // we want to count the battery-time |
||
| 544 | TimeSinceMotorStart++; |
||
| 545 | } |
||
| 546 | |||
| 489 | killagreg | 547 | if(SerialLinkOkay) SerialLinkOkay--; |
| 594 | holgerb | 548 | if(SerialLinkOkay < 250 - 6) NCFlags |= NC_FLAG_NOSERIALLINK; // 6 seconds timeout for serial communication |
| 489 | killagreg | 549 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
| 550 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
||
| 551 | } |
||
| 552 | running = 0; |
||
| 514 | holgerb | 553 | // if(!PollingTimeout) DebugOut.Analog[17]++; |
| 489 | killagreg | 554 | return(0); |
| 378 | holgerb | 555 | } |
| 556 | |||
| 380 | holgerb | 557 | // the handler will be cyclic called by the timer 1 ISR |
| 558 | // used is for critical timing parts that normaly would handled |
||
| 559 | // within the main loop that could block longer at logging activities |
||
| 483 | holgerb | 560 | void EXTIT3_IRQHandler(void) // 1ms - Takt |
| 154 | killagreg | 561 | { |
| 195 | killagreg | 562 | IENABLE; |
| 154 | killagreg | 563 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
| 489 | killagreg | 564 | |
| 516 | holgerb | 565 | if(PollingTimeout == 0) |
| 566 | { |
||
| 567 | PollingTimeout = 5; |
||
| 568 | //if(Polling() == 0) DebugOut.Analog[]++; |
||
| 569 | Polling(); |
||
| 380 | holgerb | 570 | } |
| 378 | holgerb | 571 | |
| 572 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
||
| 195 | killagreg | 573 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
| 574 | IDISABLE; |
||
| 378 | holgerb | 575 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
| 154 | killagreg | 576 | } |
| 577 | |||
| 41 | ingob | 578 | //---------------------------------------------------------------------------------------------------- |
| 579 | int main(void) |
||
| 580 | { |
||
| 489 | killagreg | 581 | |
| 582 | // static u32 ftimer =0; |
||
| 583 | // static u8 fstate = 0; |
||
| 456 | holgerb | 584 | // static File_t* f = NULL; |
| 489 | killagreg | 585 | |
| 586 | |||
| 41 | ingob | 587 | /* Configure the system clocks */ |
| 588 | SCU_Config(); |
||
| 589 | /* init VIC (Vectored Interrupt Controller) */ |
||
| 590 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
||
| 591 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
||
| 592 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
||
| 196 | killagreg | 593 | VIC_InitDefaultVectors(); |
| 594 | |||
| 119 | killagreg | 595 | // initialize timer 1 for System Clock and delay rountines |
| 41 | ingob | 596 | TIMER1_Init(); |
| 597 | // initialize the LEDs (needs Timer 1) |
||
| 598 | Led_Init(); |
||
| 599 | // initialize the debug UART1 |
||
| 600 | UART1_Init(); |
||
| 110 | killagreg | 601 | UART1_PutString("\r\n---------------------------------------------"); |
| 120 | killagreg | 602 | // initialize timer 2 for servo outputs |
| 180 | killagreg | 603 | //TIMER2_Init(); |
| 41 | ingob | 604 | // initialize UART2 to FLIGHTCTRL |
| 605 | UART2_Init(); |
||
| 606 | // initialize UART0 (to MKGPS or MK3MAG) |
||
| 607 | UART0_Init(); |
||
| 134 | killagreg | 608 | // initialize adc |
| 609 | Analog_Init(); |
||
| 41 | ingob | 610 | // initialize SPI0 to FC |
| 611 | SPI0_Init(); |
||
| 469 | killagreg | 612 | // initialize i2c busses (needs Timer 1) |
| 489 | killagreg | 613 | I2CBus_Init(I2C0); |
| 614 | I2CBus_Init(I2C1); |
||
| 247 | killagreg | 615 | // initialize fat16 partition on sd card (needs Timer 1) |
| 41 | ingob | 616 | Fat16_Init(); |
| 156 | killagreg | 617 | // initialize NC params |
| 618 | NCParams_Init(); |
||
| 88 | killagreg | 619 | // initialize the settings |
| 620 | Settings_Init(); |
||
| 92 | killagreg | 621 | // initialize logging (needs settings) |
| 82 | killagreg | 622 | Logging_Init(); |
| 1 | ingob | 623 | |
| 699 | holgerb | 624 | if(UART_VersionInfo.HWMajor < 30) IamMaster = SLAVE; else IamMaster = MASTER; |
| 625 | |||
| 626 | //UART_VersionInfo.HWMajor = 30; |
||
| 362 | holgerb | 627 | LED_GRN_ON; |
| 41 | ingob | 628 | TimerCheckError = SetDelay(3000); |
| 175 | holgerb | 629 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
| 110 | killagreg | 630 | UART1_PutString("\n\r Version information:"); |
| 116 | killagreg | 631 | |
| 41 | ingob | 632 | GetNaviCtrlVersion(); |
| 338 | holgerb | 633 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
| 634 | DebugOut.StatusRed = 0x00; |
||
| 400 | holgerb | 635 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
| 149 | killagreg | 636 | |
| 516 | holgerb | 637 | Compass_Init(); |
| 270 | killagreg | 638 | |
| 548 | holgerb | 639 | UBX_Setup(); // inits the GPS-Module via ubx |
| 400 | holgerb | 640 | GPS_Init(); |
| 641 | |||
| 314 | killagreg | 642 | #ifdef FOLLOW_ME |
| 643 | TransmitAlsoToFC = 1; |
||
| 644 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
||
| 645 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
||
| 646 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
||
| 647 | TransmitAlsoToFC = 0; |
||
| 648 | #else |
||
| 150 | killagreg | 649 | SPI0_GetFlightCtrlVersion(); |
| 650 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
||
| 41 | ingob | 651 | { |
| 461 | holgerb | 652 | UART1_PutString("\n\r Flight-Ctrl not compatible\n\r"); |
| 41 | ingob | 653 | LED_RED_ON; |
| 654 | } |
||
| 314 | killagreg | 655 | #endif |
| 528 | holgerb | 656 | |
| 213 | killagreg | 657 | // ---------- Prepare the isr driven |
| 154 | killagreg | 658 | // set to absolute lowest priority |
| 516 | holgerb | 659 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
| 195 | killagreg | 660 | // enable interrupts |
| 516 | holgerb | 661 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
| 244 | killagreg | 662 | |
| 250 | ingob | 663 | Debug_OK("START"); |
| 362 | holgerb | 664 | UART1_PutString("\r\n"); |
| 380 | holgerb | 665 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
| 666 | LED_GRN_ON; |
||
| 667 | LED_RED_OFF; |
||
| 530 | holgerb | 668 | Settings_GetParamValue(PID_SEND_NMEA,(u16 *) &NMEA_Interval); |
| 461 | holgerb | 669 | UART1_PutString("\r\n"); |
| 528 | holgerb | 670 | |
| 487 | holgerb | 671 | CompassValueErrorCount = 0; |
| 503 | holgerb | 672 | I2CBus(Compass_I2CPort)->Timeout = SetDelay(3000); |
| 688 | holgerb | 673 | |
| 674 | // Intilizes the Canbus |
||
| 675 | if(UART_VersionInfo.HWMajor >= 30) CanbusInit(); |
||
| 528 | holgerb | 676 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
| 154 | killagreg | 677 | for (;;) // the endless main loop |
| 41 | ingob | 678 | { |
| 484 | holgerb | 679 | PollingTimeout = 5; |
| 431 | killagreg | 680 | Polling(); |
| 500 | holgerb | 681 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
| 682 | if(FromFC_LoadWP_List) |
||
| 516 | holgerb | 683 | { |
| 684 | WPL_Store.Index = (FromFC_LoadWP_List & ~0x80); |
||
| 685 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
||
| 686 | { |
||
| 513 | killagreg | 687 | if(PointList_ReadFromFile(&WPL_Store) == WPL_OK) |
| 688 | { |
||
| 689 | if(FromFC_LoadWP_List & 0x80)// -> load relative |
||
| 516 | holgerb | 690 | { |
| 540 | holgerb | 691 | u32 angle; |
| 692 | angle = (360 + GyroCompassCorrected/10 + Parameter.OrientationAngle * 15) % 360; |
||
| 513 | killagreg | 693 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10) |
| 516 | holgerb | 694 | { // take actual position |
| 540 | holgerb | 695 | if(!PointList_Move(1,&(GPSData.Position),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
| 516 | holgerb | 696 | } |
| 697 | else |
||
| 513 | killagreg | 698 | { // take last target position |
| 540 | holgerb | 699 | if(!PointList_Move(1, &(NaviData.TargetPosition),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
| 513 | killagreg | 700 | } |
| 701 | } |
||
| 702 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
||
| 703 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
||
| 519 | holgerb | 704 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
| 705 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
||
| 706 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
||
| 513 | killagreg | 707 | BeepTime = 150; |
| 708 | } |
||
| 709 | } |
||
| 710 | FromFC_LoadWP_List = 0; |
||
| 711 | } |
||
| 712 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 713 | if(FromFC_Save_SinglePoint) |
||
| 714 | { |
||
| 715 | WPL_Store.Index = FromFC_Save_SinglePoint; |
||
| 516 | holgerb | 716 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) if(PointList_SaveSinglePoint(&WPL_Store) == WPL_OK) BeepTime = 150; |
| 513 | killagreg | 717 | FromFC_Save_SinglePoint = 0; |
| 718 | } |
||
| 719 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 720 | if(FromFC_Load_SinglePoint) |
||
| 721 | { |
||
| 516 | holgerb | 722 | WPL_Store.Index = FromFC_Load_SinglePoint; |
| 723 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
||
| 724 | { |
||
| 513 | killagreg | 725 | if(PointList_LoadSinglePoint(&WPL_Store) == WPL_OK) |
| 502 | killagreg | 726 | { |
| 727 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
||
| 728 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
||
| 519 | holgerb | 729 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
| 730 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
||
| 731 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
||
| 502 | killagreg | 732 | BeepTime = 150; |
| 733 | } |
||
| 516 | holgerb | 734 | } |
| 513 | killagreg | 735 | FromFC_Load_SinglePoint = 0; |
| 504 | holgerb | 736 | } |
| 500 | holgerb | 737 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
| 431 | killagreg | 738 | // ---------------- Logging --------------------------------------- |
| 489 | killagreg | 739 | if(SD_WatchDog) |
| 431 | killagreg | 740 | { |
| 741 | SD_WatchDog = 30000; |
||
| 742 | if(SDCardInfo.Valid == 1) Logging_Update(); // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1 |
||
| 516 | holgerb | 743 | else |
| 744 | { |
||
| 745 | ToFC_MaxWpListIndex = 0; |
||
| 746 | if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
||
| 503 | holgerb | 747 | } |
| 431 | killagreg | 748 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
| 749 | } |
||
| 489 | killagreg | 750 | |
| 751 | /* |
||
| 324 | killagreg | 752 | if(CheckDelay(ftimer)) |
| 753 | { |
||
| 754 | |||
| 431 | killagreg | 755 | static s8 filename[35]; |
| 756 | static u8 i = 0; |
||
| 757 | s8 dbgmsg[40]; |
||
| 324 | killagreg | 758 | |
| 489 | killagreg | 759 | |
| 760 | |||
| 324 | killagreg | 761 | ftimer = SetDelay(100); |
| 762 | if(FC.Poti[3]>100 && fstate == 0) |
||
| 763 | { |
||
| 764 | fstate = 1; |
||
| 431 | killagreg | 765 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
| 324 | killagreg | 766 | } |
| 767 | else if(FC.Poti[3]<100 && fstate == 2) |
||
| 768 | { |
||
| 769 | fstate = 3; |
||
| 770 | } |
||
| 771 | |||
| 772 | switch(fstate) |
||
| 773 | { |
||
| 774 | case 1: |
||
| 431 | killagreg | 775 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
| 776 | Debug(dbgmsg); |
||
| 324 | killagreg | 777 | f = fopen_(filename, 'a'); |
| 778 | if(f== NULL) Fat16_Init(); |
||
| 779 | fstate = 2; |
||
| 780 | break; |
||
| 781 | |||
| 782 | case 2: |
||
| 783 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
||
| 784 | break; |
||
| 489 | killagreg | 785 | |
| 324 | killagreg | 786 | case 3: |
| 431 | killagreg | 787 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
| 788 | Debug(dbgmsg); |
||
| 324 | killagreg | 789 | fclose_(f); |
| 790 | fstate = 0; |
||
| 791 | break; |
||
| 792 | |||
| 793 | default: |
||
| 794 | break; |
||
| 795 | } |
||
| 796 | } |
||
| 594 | holgerb | 797 | */ |
| 24 | StephanB | 798 | } |
| 1 | ingob | 799 | } |
| 516 | holgerb | 800 | //DebugOut.Analog[] |