Subversion Repositories NaviCtrl

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Ignore whitespace Rev 488 → Rev 489

/trunk/i2c1.c
File deleted
/trunk/i2c0.c
File deleted
/trunk/i2c1.h
File deleted
/trunk/i2c0.h
File deleted
/trunk/GPS.c
74,7 → 74,7
#include "timer1.h"
#include "spi_slave.h"
#include "waypoints.h"
#include "i2c1.h"
#include "i2c.h"
 
 
#define M_PI_180 (M_PI / 180.0f)
/trunk/Navi-Ctrl.Uv2
12,10 → 12,10
File 1,1,<.\main.c><main.c>
File 1,1,<.\ramfunc.c><ramfunc.c>
File 1,1,<.\menu.c><menu.c>
File 1,1,<.\mymath.c><mymath.c>
File 1,1,<.\i2c.c><i2c.c>
File 1,1,<.\spi_slave.c><spi_slave.c>
File 1,1,<.\fat16.c><fat16.c>
File 1,1,<.\i2c0.c><i2c0.c>
File 1,1,<.\i2c1.c><i2c1.c>
File 1,1,<.\sdc.c><sdc.c>
File 1,1,<.\settings.c><settings.c>
File 1,1,<.\ftphelper.c><ftphelper.c>
43,13 → 43,11
File 1,1,<.\buffer.c><buffer.c>
File 1,1,<.\eeprom.c><eeprom.c>
File 1,1,<.\ncmag.c><ncmag.c>
File 1,1,<.\mymath.c><mymath.c>
File 2,5,<.\ramfunc.h><ramfunc.h>
File 2,5,<.\main.h><main.h>
File 2,5,<.\menu.h><menu.h>
File 2,5,<.\settings.h><settings.h>
File 2,5,<.\i2c0.h><i2c0.h>
File 2,5,<.\i2c1.h><i2c1.h>
File 2,5,<.\i2c.h><i2c.h>
File 2,5,<.\spi_slave.h><spi_slave.h>
File 2,5,<.\sdc.h><sdc.h>
File 2,5,<.\ssc.h><ssc.h>
/trunk/compass.c
7,7 → 7,7
// + 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
// + 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.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
18,7 → 18,7
// + 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
// + 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.
32,7 → 32,7
// + 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 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
68,6 → 68,7
fifo_t CompassCalcStateFiFo;
 
volatile s16vec_t MagVector; // is written by mk3mag or ncmag implementation
volatile s16vec_t AccVector; // current acceleration vector of compass, not supported by any HW version
volatile s16 Compass_Heading; // is written by mk3mag or ncmag implementation
volatile u8 Compass_CalState; // is written by mk3mag or ncmag implementation
s16 Hx = 0, Hy = 0;
84,6 → 85,7
#define COMPASS_MK3MAG 1
#define COMPASS_NCMAG 2
u8 Compass_Device = COMPASS_NONE;
I2C_TypeDef* Compass_I2CPort = I2C1;
 
void Compass_Init(void)
{
93,27 → 95,18
UART1_PutString("\r\n Looking for compass");
if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG;
else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
 
/* if(Version_HW > 11)
{
if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG;
}
else
{
if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG;
else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
}
*/
break;
 
case COMPASS_NCMAG:
UART1_PutString("\r\n Re-Init compass");
if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
else Compass_Device = COMPASS_NONE;
break;
 
case COMPASS_MK3MAG:
if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG;
else Compass_Device = COMPASS_NONE;
break;
 
default:
// nothing to do
break;
123,9 → 116,29
 
if(Compass_Device == COMPASS_MK3MAG) UART_VersionInfo.Flags |= NC_VERSION_FLAG_MK3MAG_PRESENT; else UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_MK3MAG_PRESENT;
 
MagVector.X = 0;
MagVector.Y = 0;
MagVector.Z = 0;
Compass_Heading = -1;
}
 
 
void Compass_Check(void)
{
switch(Compass_Device)
{
case COMPASS_NCMAG:
NCMAG_CheckOrientation();
break;
 
case COMPASS_MK3MAG:
case COMPASS_NONE:
default:
// nothing to do
break;
}
}
 
void Compass_CalcHeading(void)
{
if((UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) || Compass_CalState)
158,7 → 171,7
 
void Compass_Update(void)
{
static s16vec_t old;
static s16vec_t old;
static u32 check_value_counter = 0;
// check for new cal state
Compass_UpdateCalState();
168,32 → 181,31
{
case COMPASS_MK3MAG:
MK3MAG_Update();
DebugOut.Analog[24] = MagVector.X;
DebugOut.Analog[25] = MagVector.Y;
DebugOut.Analog[26] = MagVector.Z;
break;
case COMPASS_NCMAG:
if(check_value_counter == 2000)
{
UART1_PutString("\n\r Init Mag.-Sensor");
InitNC_MagnetSensor(); // 2 seconds no change of the compass value
}
else NCMAG_Update(0);
DebugOut.Analog[24] = MagRawVector.X;
DebugOut.Analog[25] = MagRawVector.Y;
DebugOut.Analog[26] = MagRawVector.Z;
NCMAG_Update(0);
break;
default:
break;
}
if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normally changing
 
if(check_value_counter > 5000)
{
Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault
// CompassValueErrorCount = 35;
}
else check_value_counter++;
DebugOut.Analog[24] = MagVector.X;
DebugOut.Analog[25] = MagVector.Y;
DebugOut.Analog[26] = MagVector.Z;
 
if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normaly changing
 
if(check_value_counter == 2000)
{
UART1_PutString("\n\r Init Mag.-Sensor");
Compass_Init(); // 2 seconds no change of the compass value
}
else if(check_value_counter > 5000)
{
Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault
}
else check_value_counter++;
 
old.X = MagVector.X;
old.Y = MagVector.Y;
old.Z = MagVector.Z;
/trunk/compass.h
1,6 → 1,9
#ifndef _COMPASS_H
#define _COMPASS_H
 
// this is the abstract interface for the magnetometer/compass sensor
// below this there are different special sensors that are supported
 
typedef struct
{
s16 X;
9,6 → 12,7
} __attribute__((packed)) s16vec_t;
 
extern volatile s16vec_t MagVector; // current magnetic field vector
extern volatile s16vec_t AccVector; // current acceleration vector of compass, not supported by any HW version
extern volatile s16 Compass_Heading; // current heading direction
extern volatile u8 Compass_CalState; // current calibration state
extern s32 EarthMagneticField;
20,17 → 24,18
extern s16 EarthMagneticStrengthTheoretic;
extern s16 Hx, Hy;
 
extern u32 CompassValueErrorCount;
 
#define COMPASS_NONE 0
#define COMPASS_MK3MAG 1
#define COMPASS_NCMAG 2
extern u8 Compass_Device;
extern I2C_TypeDef* Compass_I2CPort;
extern u32 CompassValueErrorCount;
 
void Compass_Init(void);
void Compass_Update(void);
void Compass_CalcHeading(void);
void Compass_SetCalState(u8 CalState);
void Compass_UpdateCalState(void);
void Compass_Init(void); // initialization for compass sensor
void Compass_Check(void); // possible check for compass plausibility, called when FC gets calibrates
void Compass_Update(void); // updates sensor values, cyclic called
void Compass_CalcHeading(void); // calculates heading from magent vector componentes
void Compass_SetCalState(u8 CalState); // append to CalState queue
void Compass_UpdateCalState(void); // process CalState queue
 
#endif // _COMPASS_H
/trunk/config.h
2,7 → 2,7
#ifndef _CONFIG_H
#define _CONFIG_H
 
//*** <<< Use Configuration Wizard in Context Menu >>> ***
//*** <<< Use Configuration Wizard in Context Menu >>> ***
 
 
// Configure the interrupt priority at a level from 0 to 15 (0 is highest priority)
54,20 → 54,20
//</h>
//=============================================================================
//<h>Baudrates
//<o> UART0 <9600=> 9600 Baud <19200=> 19,2 kBaud <38400=> 38,4 kBaud <57600=> 57,6 kBaud <115200=> 115,2 kBaud
//<o> UART0 <9600=> 9600 Baud <19200=> 19,2 kBaud <38400=> 38,4 kBaud <57600=> 57,6 kBaud <115200=> 115,2 kBaud
#define UART0_BAUD_RATE 57600 //Baud Rate for the serial interfaces
 
//<o> UART1 <9600=> 9600 Baud <19200=> 19,2 kBaud <38400=> 38,4 kBaud <57600=> 57,6 kBaud <115200=> 115,2 kBaud
//<o> UART1 <9600=> 9600 Baud <19200=> 19,2 kBaud <38400=> 38,4 kBaud <57600=> 57,6 kBaud <115200=> 115,2 kBaud
#define UART1_BAUD_RATE 57600 //Baud Rate for the serial interfaces
 
//<o> UART2 <9600=> 9600 Baud <19200=> 19,2 kBaud <38400=> 38,4 kBaud <57600=> 57,6 kBaud <115200=> 115,2 kBaud
//<o> UART2 <9600=> 9600 Baud <19200=> 19,2 kBaud <38400=> 38,4 kBaud <57600=> 57,6 kBaud <115200=> 115,2 kBaud
#define UART2_BAUD_RATE 57600 //Baud Rate for the serial interfaces
 
//<o> I2C-Bus1 <22000=> 20 kBit <50000=> 50 kBit <100000=> 100 kBit <200000=> 200 kBit <400000=> 400 kBit
#define I2C1_CLOCK 50000 // Bit Rate for I2C
#define I2C0_CLOCK 100000 // Bit Rate for I2C
//<o> I2C-Bus1 <22000=> 20 kBit <50000=> 50 kBit <100000=> 100 kBit <200000=> 200 kBit <400000=> 400 kBit
#define I2C0_CLOCK 100000 // Bit Rate for I2C
#define I2C1_CLOCK 50000 // Bit Rate for I2C
 
//</h>
//<<< end of configuration section >>>
//<<< end of configuration section >>>
 
#endif // _CONFIG_H
/trunk/eeprom.c
56,7 → 56,7
#include <string.h>
#include <stdio.h>
#include "91x_lib.h"
#include "i2c1.h"
#include "i2c.h"
#include "uart1.h"
#include "timer1.h"
#include "eeprom.h"
63,7 → 63,10
#include "led.h"
 
 
 
// The EEPROM M24C64 (64k) ist connected via I2C1 interface to the controller.
#define EEPROM_I2C I2C1
 
// The E0, E2, E3 pins are set to low. Therefore the slave adressbits b3, b2, b1 are 0.
 
#define EEPROM_I2C_ADDRESS 0xA0
92,7 → 95,7
// ----------------------------------------------------------------------------------------
EEPROM_Result_t EEPROM_Transfer(u8 Direction, u16 Address, u8 *pData, u16 DataLen)
{
u16 i, TxBytes = 0;
u16 i;
u8 retry = 0;
EEPROM_Result_t retval = EEPROM_ERROR_UNKNOWN;
 
101,7 → 104,7
retval = EEPROM_ERROR_OUT_OF_ADDRESS_RANGE;
return(retval);
}
if((DataLen+2) > I2C1_BUFFER_LEN)
if((DataLen+2) > I2C_BUFFER_LEN)
{
retval = EEPROM_I2C_BUFFER_OVERRUN;
return(retval);
108,23 → 111,24
}
do
{
if(!I2C1_LockBuffer(I2C_IDLE_TIMEOUT)) return EEPROM_ERROR_I2C_IDLE_TIMEOUT;
if(!I2CBus_LockBuffer(EEPROM_I2C, I2C_IDLE_TIMEOUT)) return EEPROM_ERROR_I2C_IDLE_TIMEOUT;
// buffer is now locked
TxBytes = 0;
u8 TxBytes = 0;
u8 TxData[255];
// transmitt address
I2C1_Buffer[TxBytes++] = (u8)(0x00FF & (Address>>8));
I2C1_Buffer[TxBytes++] = (u8)(0x00FF & Address);
TxData[TxBytes++] = (u8)(0x00FF & (Address>>8));
TxData[TxBytes++] = (u8)(0x00FF & Address);
if(Direction == EEPROM_WRITE)
{ // copy data to i2c transfer buffer
for(i = 0; i<DataLen;i++)
{
I2C1_Buffer[TxBytes++] = pData[i];
TxData[TxBytes++] = pData[i];
}
// prepare pointer to rx data
EEPROM_pData = 0;
EEPROM_DataLen = 0;
// start transmission
if(!I2C1_Transmission(EEPROM_I2C_ADDRESS, TxBytes, 0, 0))
if(!I2CBus_Transmission(EEPROM_I2C, EEPROM_I2C_ADDRESS, TxData, TxBytes, 0, 0))
{
return(retval);
}
135,15 → 139,15
EEPROM_pData = pData;
EEPROM_DataLen = DataLen;
// start transmission
if(!I2C1_Transmission(EEPROM_I2C_ADDRESS, TxBytes, &EEPROM_RxDataHandler, DataLen))
if(!I2CBus_Transmission(EEPROM_I2C, EEPROM_I2C_ADDRESS, TxData, TxBytes, &EEPROM_RxDataHandler, DataLen))
{
return(retval);
}
}
//wait for end of this transfer
if(I2C1_WaitForEndOfTransmission(I2C_TRANSFER_TIMEOUT))
if(I2CBus_WaitForEndOfTransmission(EEPROM_I2C, I2C_TRANSFER_TIMEOUT))
{
if(I2C1_Error == I2C_ERROR_NONE) return(EEPROM_SUCCESS);
if(I2CBus(EEPROM_I2C)->Error == I2C_ERROR_NONE) return(EEPROM_SUCCESS);
else retval = EEPROM_DATA_TRANSFER_INCOMPLETE;
}
else// i2c transfer timed out
190,7 → 194,7
 
while(DataLen > 0)
{
if(DataLen > I2C1_BUFFER_LEN) RxLen = I2C1_BUFFER_LEN;
if(DataLen > I2C_BUFFER_LEN) RxLen = I2C_BUFFER_LEN;
else RxLen = DataLen;
retval = EEPROM_Transfer(EEPROM_READ, Address+AdrOffset, &(pData[AdrOffset]), RxLen);
/trunk/gpx.c
7,7 → 7,7
// + 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
// + 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.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
18,7 → 18,7
// + 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
// + 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.
32,7 → 32,7
// + 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 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
110,7 → 110,7
retvalue = 1; // the document could be created on the drive.
doc->state = GPX_DOC_OPENED; // change document state to opened. At next a placemark has to be opened.
fwrite_((void*)GPX_DOCUMENT_HEADER1, sizeof(GPX_DOCUMENT_HEADER1)-1,1,doc->file);// write the gpx-header to the document.
sprintf(string, "<desc>FC HW:%d.%d SW:%d.%02d%c + NC HW:%d.%d SW:%d.%02d%c</desc>\r\n", (FC_Version.Hardware&0x7f) /10,(FC_Version.Hardware&0x7f)%10, FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
sprintf(string, "<desc>FC HW:%d.%d SW:%d.%02d%c + NC HW:%d.%d SW:%d.%02d%c</desc>\r\n", (FC_Version.Hardware & 0x7F)/10,(FC_Version.Hardware & 0x7F)%10, FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
fputs_(string, doc->file);
fwrite_((void*)GPX_DOCUMENT_HEADER2, sizeof(GPX_DOCUMENT_HEADER2)-1,1,doc->file);// write the gpx-header to the document.
}
273,20 → 273,6
return(retvalue);
}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55)
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
unsigned int BL3_Current(unsigned char who) // in 0,1A
{
if(Motor[who].Current <= 200) return((unsigned int) Motor[who].Current);
else
{
if(Motor_Version[who] & MOTOR_STATE_BL30) return(200 + 10 * (unsigned int) (Motor[who].Current-200));
else return((unsigned int) Motor[who].Current);
}
}
 
 
//________________________________________________________________________________________________________________________________________
// Function: u8 GPX_TrackSegementAddPoint(GPS_Pos_t * pGPS_Position ,GPX_Document_t *doc);
//
403,12 → 389,12
}
*/ // Compassind deg
i16_1 = FromFlightCtrl.GyroHeading / 10;
sprintf(string, "<Compass>%03d,%03d,%03d</Compass>\r\n", i16_1,ToFlightCtrl.CompassHeading, GyroCompassCorrected/10);
sprintf(string, "<Compass>%03d,%03d,%03d</Compass>\r\n", i16_1,ToFlightCtrl.CompassHeading,GyroCompassCorrected/10);
fputs_(string, doc->file);
// magnetic field
// magnetic field
sprintf(string, "<MagnetField>%03d</MagnetField>\r\n",(u16) (EarthMagneticFieldFiltered/5));
fputs_(string, doc->file);
// magnetic inclination & error
// magnetic inclination & error
sprintf(string, "<MagnetInclination>%02d,%02d</MagnetInclination>\r\n",(s16)EarthMagneticInclinationFiltered/10,(s16)(EarthMagneticInclinationFiltered/10 - EarthMagneticInclinationTheoretic));
fputs_(string, doc->file);
// Nick Angle ind deg
446,7 → 432,7
if(GPS_pWaypoint != NULL) // if WP exist
{ // copy that name
u8 i;
for(i=0;i<4;i++)
for(i=0;i<4;i++)
{
name[i] = GPS_pWaypoint->Name[i];
if(name[i] < ' ') name[i] = ' ';
/trunk/gpx.h
23,7 → 23,7
File_t *file; // filepointer to the file where the data should be saved.
} GPX_Document_t;
 
u8 GPX_LoggGPSCoordinates(GPX_Document_t *,unsigned char part); // intializes the gpx-document with standard filename and adds points to the file
u8 GPX_LoggGPSCoordinates(GPX_Document_t *,u8 part); // intializes the gpx-document with standard filename and adds points to the file
u8 GPX_DocumentInit(GPX_Document_t *); // Init the new gpx-document
u8 GPX_DocumentOpen(s8 *, GPX_Document_t *); // opens a new gpx-document. a new file is created on the sd-memorycard
u8 GPX_DocumentClose(GPX_Document_t *doc); // closes the specified document saving remaining data to the file.
31,7 → 31,6
u8 GPX_TrackEnd(GPX_Document_t *doc); // ends the actual track
u8 GPX_TrackSegmentBegin(GPX_Document_t *doc); // begins a new tracksegment within the actual track
u8 GPX_TrackSegmentEnd(GPX_Document_t *doc); // ends the actual track segment within the actual track
u8 GPX_TrackSegmentAddPoint(GPX_Document_t *,unsigned char part); // adds a point to the tracksegment
extern unsigned int BL3_Current(unsigned char who); // in 0,1A
u8 GPX_TrackSegmentAddPoint(GPX_Document_t *,u8 part); // adds a point to the tracksegment
 
#endif //_GPX_H
/trunk/led.h
4,19 → 4,16
extern u8 Led_Grn_Inv;
extern u8 Led_Red_Inv;
 
#define LED_GRN_ON {if(Led_Grn_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_6, Bit_RESET); else GPIO_WriteBit(GPIO5, GPIO_Pin_6, Bit_SET);}
#define LED_GRN_OFF {if(Led_Grn_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_6, Bit_SET); else GPIO_WriteBit(GPIO5, GPIO_Pin_6, Bit_RESET);}
#define LED_GRN_ON {if(Led_Grn_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_6, Bit_RESET); else GPIO_WriteBit(GPIO5, GPIO_Pin_6, Bit_SET);}
#define LED_GRN_OFF {if(Led_Grn_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_6, Bit_SET); else GPIO_WriteBit(GPIO5, GPIO_Pin_6, Bit_RESET);}
#define LED_GRN_TOGGLE if (GPIO_ReadBit(GPIO5, GPIO_Pin_6)) GPIO_WriteBit(GPIO5, GPIO_Pin_6, Bit_RESET); else GPIO_WriteBit(GPIO5, GPIO_Pin_6, Bit_SET);
 
#define LED_RED_ON_T // {if(Led_Red_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_RESET); else GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_SET);}
#define LED_RED_OFF_T // {if(Led_Red_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_SET); else GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_RESET);}
 
#define LED_RED_ON_Q {if(Led_Red_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_RESET); else GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_SET);}
#define LED_RED_OFF_Q {if(Led_Red_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_SET); else GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_RESET);}
#define LED_RED_ON_T // {if(Led_Red_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_RESET); else GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_SET);}
#define LED_RED_OFF_T // {if(Led_Red_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_SET); else GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_RESET);}
 
 
#define LED_RED_ON // {if(Led_Red_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_RESET); else GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_SET);}
#define LED_RED_OFF// {if(Led_Red_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_SET); else GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_RESET);}
#define LED_RED_ON {if(Led_Red_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_RESET); else GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_SET);}
#define LED_RED_OFF {if(Led_Red_Inv) GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_SET); else GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_RESET);}
#define LED_RED_TOGGLE if (GPIO_ReadBit(GPIO5, GPIO_Pin_7)) GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_RESET); else GPIO_WriteBit(GPIO5, GPIO_Pin_7, Bit_SET);
 
extern u8 Version_HW;
/trunk/logging.c
7,7 → 7,7
// + 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
// + 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.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
18,7 → 18,7
// + 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
// + 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.
32,7 → 32,7
// + 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 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
87,7 → 87,7
logfilestate_t Logging_GPX(u32 LogDelay);
 
LogCfg_t LogCfg = {500 , 1000};
u32 Logged_GPX_Counter = 0, Logged_KML_Counter = 0;
u32 Logged_GPX_Counter = 0, Logged_KML_Counter = 0;
 
 
//----------------------------------------------------------------------------------------------------
177,12 → 177,12
{
logtimer = SetDelay(LogDelay); // standard interval
 
if(FC.StatusFlags & FC_STATUS_MOTOR_RUN)
if(FC.StatusFlags & FC_STATUS_MOTOR_RUN)
{
logging_active = 1;
appendtimer = SetDelay(APPEND_LOG_TIME_MS);
appendtimer = SetDelay(APPEND_LOG_TIME_MS);
}
else
else
{
if(CheckDelay(appendtimer)) logging_active = 0;
}
321,12 → 321,12
{
if(!part) logtimer = SetDelay(LogDelay); // standard interval
 
if(FC.StatusFlags & FC_STATUS_MOTOR_RUN)
if(FC.StatusFlags & FC_STATUS_MOTOR_RUN)
{
logging_active = 1;
appendtimer = SetDelay(APPEND_LOG_TIME_MS);
appendtimer = SetDelay(APPEND_LOG_TIME_MS);
}
else
else
{
if(CheckDelay(appendtimer)) logging_active = 0;
}
397,7 → 397,7
{
if(ErrorCode != old_errorcode || CheckDelay(flushtimer))
{
if(ErrorCode != old_errorcode) flushtimer = SetDelay(1000);
if(ErrorCode != old_errorcode) flushtimer = SetDelay(1000);
else flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
fflush_(logfile.file);
old_errorcode = ErrorCode;
490,7 → 490,7
}
}
else // a logging error has occured
{
{
// /*
// try to reinitialize sd-card when motors are not running
if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN))
/trunk/main.c
7,7 → 7,7
// + 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
// + 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.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
18,7 → 18,7
// + 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
// + 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.
32,7 → 32,7
// + 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 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
62,8 → 62,7
#include "uart1.h"
#include "uart2.h"
#include "gps.h"
#include "i2c0.h"
#include "i2c1.h"
#include "i2c.h"
#include "compass.h"
#include "ncmag.h"
#include "timer1.h"
82,14 → 81,14
#include "ssc.h"
#include "sdc.h"
#include "uart1.h"
#include "ncmag.h"
 
 
 
#ifdef FOLLOW_ME
u8 TransmitAlsoToFC = 0;
#endif
u32 TimerCheckError;
u8 ErrorCode = 0;
u8 ErrorCode = 0;
u16 BeepTime;
u8 NCFlags = 0;
s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
146,9 → 145,7
s32 newErrorCode = 0;
UART_VersionInfo.HardwareError[0] = 0;
 
if((I2C_CompassPort == I2C_INTERN_1 && CheckDelay(I2C1_Timeout)) || (I2C_CompassPort == I2C_EXTERN_0 && CheckDelay(I2C0_Timeout)) || (Compass_Heading < 0))
DebugOut.StatusRed |= AMPEL_COMPASS;
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;
157,34 → 154,18
if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC;
else DebugOut.StatusRed &= ~AMPEL_NC;
 
//if(I2C_CompassPort == I2C_EXTERN_0) LED_RED_OFF_T;
 
if(CheckDelay(I2C1_Timeout) && (I2C_CompassPort == I2C_INTERN_1))
if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout))
{
LED_RED_ON;
LED_RED_ON;
sprintf(ErrorMSG,"no compass communica");
//Reset I2CBus
I2C1_Deinit();
I2C1_Init();
//Reset Compass communication
Compass_Init();
newErrorCode = 4;
StopNavigation = 1;
UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX;
DebugOut.StatusRed |= AMPEL_COMPASS;
}
else if(CheckDelay(I2C0_Timeout) && (I2C_CompassPort == I2C_EXTERN_0))
{
LED_RED_ON;
//LED_RED_ON_T;
sprintf(ErrorMSG,"no ext. compass ");
//Reset I2CBus
I2C0_Deinit();
I2C0_Init();
NCMAG_Update(1);
newErrorCode = 33;
StopNavigation = 1;
UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX;
DebugOut.StatusRed |= AMPEL_COMPASS;
}
else if(CompassValueErrorCount > 30)
{
LED_RED_ON;
192,29 → 173,18
newErrorCode = 34;
StopNavigation = 1;
UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE;
if(I2C_CompassPort == I2C_INTERN_1)
{
I2C1_Deinit();
I2C1_Init();
}
else
{
I2C0_Deinit();
I2C0_Init();
}
Compass_Init();
}
else
if((FCCalibActive || CompassCalState) && FC_Version.Hardware)
{
else if((FCCalibActive || CompassCalState) && FC_Version.Hardware)
{
sprintf(ErrorMSG,"Calibrate... ");
newErrorCode = 0;
newErrorCode = 0;
ErrorCode = 0;
no_error_delay = 1;
}
else
if(CheckDelay(SPI0_Timeout))
}
else if(CheckDelay(SPI0_Timeout))
{
LED_RED_ON;
LED_RED_ON;
sprintf(ErrorMSG,"no FC communication ");
newErrorCode = 3;
StopNavigation = 1;
235,7 → 205,6
UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE;
DebugOut.StatusRed |= AMPEL_NC;
}
 
else if(FC.Error[0] & FC_ERROR0_GYRO_NICK)
{
LED_RED_ON;
280,7 → 249,7
}
else if(FC.Error[0] & FC_ERROR0_PRESSURE)
{
LED_RED_ON;
LED_RED_ON;
sprintf(ErrorMSG,"ERR:Pressure sensor");
newErrorCode = 16;
}
306,13 → 275,13
{
LED_RED_ON;
// if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");
// else
{
sprintf(ErrorMSG,"no GPS communication");
UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX;
UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT;
newErrorCode = 5;
}
// else
{
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;
// UBX_Timeout = SetDelay(500);
}
351,93 → 320,92
sprintf(ErrorMSG,"RC Signal lost ");
newErrorCode = 7;
}
else if(ErrorGpsFixLost)
else if(ErrorGpsFixLost)
{
LED_RED_ON;
sprintf(ErrorMSG,"GPS Fix lost ");
newErrorCode = 21;
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;
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(((BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY)) || BL_MinOfMaxPWM == 39) && !ErrorCode)
{
LED_RED_ON;
sprintf(ErrorMSG,"ERR:Motor restart ");
newErrorCode = 23;
DebugOut.StatusRed |= AMPEL_BL;
LED_RED_ON;
sprintf(ErrorMSG,"ERR:Motor restart ");
newErrorCode = 23;
DebugOut.StatusRed |= AMPEL_BL;
}
else if(BL_MinOfMaxPWM < 30 && !ErrorCode)
{
unsigned int 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;
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(BL_MinOfMaxPWM < 248 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode)
{
LED_RED_ON;
sprintf(ErrorMSG,"ERR:BL Limitation ");
newErrorCode = 24;
DebugOut.StatusRed |= AMPEL_BL;
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 range ");
newErrorCode = 25;
DebugOut.StatusRed |= AMPEL_NC;
LED_RED_ON;
sprintf(ErrorMSG,"ERR:GPS 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;
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;
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;
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;
{
LED_RED_ON;
sprintf(ErrorMSG,"No GPS Fix ");
newErrorCode = 30;
}
else // no error occured
{
StopNavigation = 0;
LED_RED_OFF;
if(no_error_delay) { no_error_delay--; }
else
{
sprintf(ErrorMSG,"No Error ");
ErrorCode = 0;
}
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;
}
453,55 → 421,57
 
u8 Polling(void)
{
static u8 running = 0, oldFcFlags = 0, count5sec;
static u32 old_ms = 0;
if(running) {/*DebugOut.Analog[18]++;*/ return(1);};
running = 1;
if(CountMilliseconds != old_ms) // 1 ms
{
static u8 running = 0, oldFcFlags = 0, count5sec;
static u32 old_ms = 0;
 
if(running) {/*DebugOut.Analog[18]++;*/ return(1);};
running = 1;
 
if(CountMilliseconds != old_ms) // 1 ms
{
old_ms = CountMilliseconds;
Compass_Update(); // update compass communication
Analog_Update(); // get new ADC values
CalcHeadFree();
}
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
// ---------------- Error Check Timing ----------------------------
 
//DebugOut.Analog[16] = CompassValueErrorCount;
if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start
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
 
// ---------------- 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(CheckDelay(TimerCheckError))
{
TimerCheckError = SetDelay(1000);
if(CompassValueErrorCount) CompassValueErrorCount--;
if(++count5sec == 5)
{
TimerCheckError = SetDelay(1000);
if(CompassValueErrorCount) CompassValueErrorCount--;
if(++count5sec == 5)
{
count5sec = 0;
FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2;
FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2;
CountGpsProcessedIn5Sec = 0;
CountNewGpsDataIn5Sec = 0;
}
}
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
if(SerialLinkOkay) SerialLinkOkay--;
if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
else NCFlags &= ~NC_FLAG_NOSERIALLINK;
if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;
CountGpsProcessedIn5Sec = 0;
CountNewGpsDataIn5Sec = 0;
}
}
running = 0;
if(!PollingTimeout) DebugOut.Analog[17]++;
return(0);
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
if(SerialLinkOkay) SerialLinkOkay--;
if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 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
511,13 → 481,14
{
IENABLE;
VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
// Compass_Update(); // update compass communication
// Analog_Update(); // get new ADC values
if(PollingTimeout == 0)
//Compass_Update(); // update compass communication
//Analog_Update(); // get new ADC values
 
if(PollingTimeout == 0)
{
PollingTimeout = 5;
// if(Polling() == 0) DebugOut.Analog[16]++;
Polling();
PollingTimeout = 5;
//if(Polling() == 0) DebugOut.Analog[16]++;
Polling();
}
 
VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
529,12 → 500,12
//----------------------------------------------------------------------------------------------------
int main(void)
{
static u32 ftimer =0;
static u8 fstate = 0;
 
// static u32 ftimer =0;
// static u8 fstate = 0;
// static File_t* f = NULL;
 
 
/* Configure the system clocks */
SCU_Config();
/* init VIC (Vectored Interrupt Controller) */
561,8 → 532,8
// initialize SPI0 to FC
SPI0_Init();
// initialize i2c busses (needs Timer 1)
I2C0_Init();
I2C1_Init();
I2CBus_Init(I2C0);
I2CBus_Init(I2C1);
 
// initialize fat16 partition on sd card (needs Timer 1)
Fat16_Init();
619,9 → 590,9
{
PollingTimeout = 5;
Polling();
 
// ---------------- Logging ---------------------------------------
 
if(SD_WatchDog)
if(SD_WatchDog)
{
SD_WatchDog = 30000;
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
628,7 → 599,8
else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100;
if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r");
}
/*
 
/*
if(CheckDelay(ftimer))
{
 
635,9 → 607,9
static s8 filename[35];
static u8 i = 0;
s8 dbgmsg[40];
 
 
 
ftimer = SetDelay(100);
if(FC.Poti[3]>100 && fstate == 0)
{
662,7 → 634,7
case 2:
fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f);
break;
 
case 3:
sprintf(dbgmsg,"\r\nClosing file: %s", filename);
Debug(dbgmsg);
674,7 → 646,7
break;
}
}
*/
*/
}
}
//DebugOut.Analog[16]
/trunk/main.h
110,7 → 110,7
#define FC_CFG_ACHSENKOPPLUNG_AKTIV 0x40
#define FC_CFG_DREHRATEN_BEGRENZER 0x80
 
//Parameter.ExtraConfig
//Parameter.ExtraConfig
#define CFG2_HEIGHT_LIMIT 0x01
#define CFG2_VARIO_BEEP 0x02
#define CFG_SENSITIVE_RC 0x04
175,7 → 175,8
u8 ComingHomeAltitude;
u8 GlobalConfig3;
u8 NaviOut1Parameter; // Distance between Photo releases
u8 FromFC_LandingSpeed;
u8 FromFC_LandingSpeed;
u8 FromFC_LowVoltageHomeActive;
} __attribute__((packed)) Param_t;
 
typedef struct
194,9 → 195,9
u8 Error[5];
u8 StatusFlags2;
u8 FromFC_SpeakHoTT;
s16 FromFC_CompassOffset;
u8 FromFC_DisableDeclination;
} __attribute__((packed)) FC_t; // from FC
s16 FromFC_CompassOffset;
u8 FromFC_DisableDeclination;
} __attribute__((packed)) FC_t; // from FC
 
 
extern Param_t Parameter;
/trunk/menu.c
68,7 → 68,6
#include "ncmag.h"
#include "logging.h"
#include "settings.h"
#include "gpx.h"
 
u8 DispPtr = 0;
s8 DisplayBuff[DISPLAYBUFFSIZE];
88,7 → 87,6
for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' ';
}
 
 
// Display with 20 characters in 4 lines
void Menu_Update(u8 Keys)
{
115,7 → 113,7
// Version Info
case 0:
LCD_printfxy(0,0,"++ Navi-Ctrl ++");
LCD_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", (Version_HW & 0x7f)/10, (Version_HW & 0x7f)%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
LCD_printfxy(0,1,"HW V%d.%d SW V%d.%02d%c", (Version_HW & 0x7F)/10, (Version_HW & 0x7F)%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
 
if(ErrorCode)
{
122,8 → 120,8
LCD_printfxy(0,2,"Error: %d",ErrorCode);
LCD_printfxy(0,3,"%s",ErrorMSG);
}
else
{
else
{
LCD_printfxy(0,3,"(c) HiSystems GmbH");
LCD_printfxy(0,2,"%s",ErrorMSG);
}
358,21 → 356,22
LCD_printfxy(0,0,"GyroNick: %4i", FromFlightCtrl.GyroNick);
LCD_printfxy(0,1,"GyroRoll: %4i", FromFlightCtrl.GyroRoll);
LCD_printfxy(0,2,"GyroYaw: %4i", FromFlightCtrl.GyroYaw);
if(FC_is_Calibrated) LCD_printfxy(0,3,"Calibrated ") else LCD_printfxy(0,3,"not calibrated");
if(FC_is_Calibrated) LCD_printfxy(0,3,"Calibrated ")
else LCD_printfxy(0,3,"not calibrated");
break;
case 15:
case 15:
// LCD_printfxy(0,0,"Ubat: %2i.%1i V", FC.BAT_Voltage/10, FC.BAT_Voltage%10);
LCD_printfxy(0,0,"Compass: %3i", FromFlightCtrl.GyroHeading / 10);
LCD_printfxy(0,1,"Man.-Offset:%3i", FC.FromFC_CompassOffset / 10);
if(FC.FromFC_DisableDeclination)
{
LCD_printfxy(0,2,"Mag.Declinat.:disabl");
LCD_printfxy(0,2,"Mag.Declinat.:disabl");
}
else
{
if(GeoMagDec < 0) sign = '-';
else sign = '+';
LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
if(GeoMagDec < 0) sign = '-';
else sign = '+';
LCD_printfxy(0,2,"Mag.Declinat.:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
}
LCD_printfxy(0,3,"True Compass: %3i", GyroCompassCorrected/10);
break;
413,7 → 412,7
LCD_printfxy(7,1,"data saved");
LCD_printfxy(8,3," (END) ");
break;
 
default:
break;
}
427,7 → 426,8
LCD_printfxy(0,2,"Y:%5i",MagVector.Y);
LCD_printfxy(0,3,"Z:%5i",MagVector.Z);
LCD_printfxy(8,1,"Field:%3i",EarthMagneticField/5);
if(I2C_CompassPort == I2C_EXTERN_0) LCD_printfxy(11,2,"Extern %d",ExtCompassOrientation) else LCD_printfxy(11,2,"Intern");
if(Compass_I2CPort == NCMAG_PORT_EXTERN) LCD_printfxy(11,2,"Extern")
else LCD_printfxy(11,2,"Intern");
// LCD_printfxy(8,2,"Dec:%c%i.%1i", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
// LCD_printfxy(8,3,"Inc:%2i", EarthMagneticInclination);
LCD_printfxy(15,3,"(CAL)");
439,7 → 439,7
}
if(Keys & KEY3)Compass_SetCalState(0); // cancel
break;
case 19:
case 19:
if(GeoMagDec < 0) sign = '-';
else sign = '+';
LCD_printfxy(0,0,"Magnetic Field");
447,11 → 447,11
LCD_printfxy(0,2,"Declination:%c%i.%1i ", sign, abs(GeoMagDec)/10,abs(GeoMagDec)%10);
LCD_printfxy(0,3,"Inclination:%2i (%2i)", EarthMagneticInclination, EarthMagneticInclinationTheoretic);
break;
case 20:
case 20:
LCD_printfxy(0,0,"SD-Setting ");
LCD_printfxy(0,2,"WP-Dynamic:%4i ",WaypointAcceleration);
break;
case 21:
case 21:
LCD_printfxy(0,0,"CPU Processing ");
LCD_printfxy(0,2,"GPS-Data: %2i.%iHz ",FreqNewGpsDataIn5Sec/10, FreqNewGpsDataIn5Sec%10);
LCD_printfxy(0,3,"GPS-Update:%2i.%iHz ",FreqGpsProcessedIn5Sec/10, FreqGpsProcessedIn5Sec%10);
458,31 → 458,32
if(FreqNewGpsDataIn5Sec >= 48 && FreqNewGpsDataIn5Sec <= 52) LCD_printfxy(18,2,"OK") else LCD_printfxy(18,2,"!!");
if(FreqGpsProcessedIn5Sec >= 350) LCD_printfxy(18,3,"OK") else LCD_printfxy(18,3,"!!");
break;
case 22:
LCD_printfxy(0,0,"BL Current" );
LCD_printfxy(11,3,"(in 0.1A)" );
for(i1 = 0; i1 < 3; i1++)
{
case 22:
LCD_printfxy(0,0,"BL Current" );
LCD_printfxy(11,3,"(in 0.1A)" );
for(i1 = 0; i1 < 3; i1++)
{
LCD_printfxy(0,i1+1,"%3d %3d %3d %3d ",BL3_Current(i1*4),BL3_Current(i1*4+1),BL3_Current(i1*4+2),BL3_Current(i1*4+3));
if(Motor[4 + i1 * 4].State == 0) break;
}
}
break;
 
case 23:
LCD_printfxy(0,0,"Ext. Compass" );
if(I2C_CompassPort == I2C_EXTERN_0)
{
LCD_printfxy(0,0,"Ext. Compass" );
if(Compass_I2CPort == NCMAG_PORT_EXTERN)
{
u8 tmp;
LCD_printfxy(0,1,"ACC X Y Z");
LCD_printfxy(0,2," %5d %5d %5d",AccRawVector.X/40,AccRawVector.Y/40,AccRawVector.Z/40);
tmp = GetExtCompassOrientation();
LCD_printfxy(0,2," %5d %5d %5d", AccVector.X/40, AccVector.Y/40, AccVector.Z/40);
tmp = NCMAG_GetOrientationFromAcc();
LCD_printfxy(0,3,"Orientat.: ");
if(!tmp) LCD_printfxy(11,3,"??") else LCD_printfxy(11,3,"%2d",tmp);
LCD_printfxy(15,3,"(%d)",ExtCompassOrientation);
}
else
{
LCD_printfxy(0,1,"Not connected");
}
LCD_printfxy(15,3,"(%d)",NCMAG_Orientation);
}
else
{
LCD_printfxy(0,1,"Not connected");
}
break;
default:
//MaxMenuItem = MenuItem - 1;
/trunk/mk3mag.c
7,7 → 7,7
// + 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
// + 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.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
18,7 → 18,7
// + 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
// + 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.
32,7 → 32,7
// + 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 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
57,8 → 57,7
#include <string.h>
#include "91x_lib.h"
#include "mk3mag.h"
#include "i2c1.h"
#include "i2c0.h"
#include "i2c.h"
#include "timer1.h"
#include "led.h"
#include "main.h"
140,7 → 139,7
if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_Version)+1)) )
{
memcpy((u8 *)&MK3MAG_Version, pRxBuffer, sizeof(MK3MAG_Version));
}
}
}
 
// rx data handler for calibration request
149,7 → 148,7
if(MK3MAG_CheckCRC(pRxBuffer, RxBufferSize) && (RxBufferSize == (sizeof(MK3MAG_ReadCal)+1)) )
{
memcpy((u8 *)&MK3MAG_ReadCal, pRxBuffer, sizeof(MK3MAG_ReadCal));
}
}
}
 
// rx data handler for magnetic vector request
160,9 → 159,9
s16vec_t *pMagVector = (s16vec_t*)pRxBuffer;
MagVector.X = pMagVector->Y;
MagVector.Y = pMagVector->X;
MagVector.Z = -pMagVector->Z;
MagVector.Z = -pMagVector->Z;
Compass_CalcHeading();
}
}
}
 
//----------------------------------------------------------------
174,14 → 173,15
void MK3MAG_SendCommand(u8 command)
{
// try to catch the I2C buffer
if(I2C1_LockBuffer(0))
if(I2CBus_LockBuffer(I2C1, 0))
{
u8 TxData[100];
u16 TxBytes = 0;
u16 RxBytes = 0;
I2C_pRxHandler_t pRxHandlerFunc = NULL;
 
// update current command id
I2C1_Buffer[TxBytes++] = command;
TxData[TxBytes++] = command;
 
// set pointers to data area with respect to the command id
switch (command)
193,7 → 193,7
case MK3MAG_CMD_WRITE_CAL:
RxBytes = sizeof(MK3MAG_ReadCal)+1;
pRxHandlerFunc = &MK3MAG_UpdateCalibration;
memcpy((u8*)I2C1_Buffer+1, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal));
memcpy(TxData+TxBytes, (u8*)&MK3MAG_WriteCal, sizeof(MK3MAG_WriteCal));
TxBytes += sizeof(MK3MAG_WriteCal);
break;
case MK3MAG_CMD_READ_MAGVECT:
206,11 → 206,11
break;
}
// update packet checksum
I2C1_Buffer[TxBytes] = MK3MAG_CalcCRC((u8*)I2C1_Buffer, TxBytes);
TxData[TxBytes] = MK3MAG_CalcCRC(TxData, TxBytes);
TxBytes++;
// initiate I2C transmission
I2C1_Transmission(MK3MAG_SLAVE_ADDRESS, TxBytes, pRxHandlerFunc, RxBytes);
} // EOF I2C_State == I2C_IDLE
I2CBus_Transmission(I2C1, MK3MAG_SLAVE_ADDRESS, TxData, TxBytes, pRxHandlerFunc, RxBytes);
} // EOF I2C_State == I2C_IDLE
}
 
 
217,49 → 217,57
//----------------------------------------------------------------
u8 MK3MAG_Init(void)
{
u8 msg[64];
u8 repeat;
u32 timeout;
MK3MAG_Present = 0;
if(MK3MAG_Present) // do only short init ! , full init was called before
{
// try reconnect by reseting the I2C bus
I2CBus_Deinit(I2C1);
I2CBus_Init(I2C1);
}
else // full init
{
u8 msg[64];
u8 repeat;
u32 timeout;
 
MK3MAG_Version.Major = 0xFF;
MK3MAG_Version.Minor = 0xFF;
MK3MAG_Version.Patch = 0xFF;
MK3MAG_Version.Compatible = 0xFF;
Compass_I2CPort = I2C1;
MK3MAG_Present = 0;
 
Compass_Heading = -1;
MK3MAG_Version.Major = 0xFF;
MK3MAG_Version.Minor = 0xFF;
MK3MAG_Version.Patch = 0xFF;
MK3MAG_Version.Compatible = 0xFF;
 
// polling of version info
repeat = 0;
do
{
MK3MAG_SendCommand(MK3MAG_CMD_VERSION);
if((Version_HW & 0x7f)> 11) timeout = SetDelay(100);
else timeout = SetDelay(250);
// polling of version info
repeat = 0;
do
{
MK3MAG_SendCommand(MK3MAG_CMD_VERSION);
if((Version_HW & 0x7F) > 11) timeout = SetDelay(100);
else timeout = SetDelay(250);
 
do
do
{
if (MK3MAG_Version.Major != 0xFF) break; // break loop on success
}while (!CheckDelay(timeout));
UART1_PutString(".");
repeat++;
}while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s
// if we got it
if (MK3MAG_Version.Major != 0xFF)
{
if (MK3MAG_Version.Major != 0xFF) break; // break loop on success
}while (!CheckDelay(timeout));
UART1_PutString(".");
repeat++;
}while ((MK3MAG_Version.Major == 0xFF) && (repeat < 12)); // 12*250ms=3s
// if we got it
if (MK3MAG_Version.Major != 0xFF)
{
sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);
UART1_PutString(msg);
if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
{
UART1_PutString("\n\r MK3MAG not compatible!");
UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE;
LED_RED_ON;
sprintf(msg, " MK3MAG V%d.%d%c", MK3MAG_Version.Major, MK3MAG_Version.Minor, 'a' + MK3MAG_Version.Patch);
UART1_PutString(msg);
if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
{
UART1_PutString("\n\r MK3MAG not compatible!");
UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE;
LED_RED_ON;
}
else
{ // version ok
MK3MAG_Present = 1;
}
}
else
{ // version ok
MK3MAG_Present = 1;
}
}
return(MK3MAG_Present);
}
273,14 → 281,14
u8 msg[64];
u16 MinCaclibration = 500;
 
if( (I2C1_State == I2C_STATE_OFF) || !MK3MAG_Present ) return;
if( (I2CBus(I2C1)->State == I2C_STATE_UNDEF) || !MK3MAG_Present ) return;
 
if(CheckDelay(TimerUpdate))
{
// check for incomming compass calibration request
Compass_UpdateCalState();
MK3MAG_WriteCal.CalByte = Compass_CalState;
 
if(MK3MAG_ReadCal.CalByte != MK3MAG_WriteCal.CalByte)
{ // send new calibration state
MK3MAG_SendCommand(MK3MAG_CMD_WRITE_CAL);
288,7 → 296,7
else
{ // calibration state matches
MK3MAG_SendCommand(MK3MAG_CMD_READ_MAGVECT); // initiate magvector transfer
 
switch(Compass_CalState)
{
case 1:
316,7 → 324,7
else if(MagVector.Y < y_min) { y_min = MagVector.Y; BeepTime = 20; }
 
break;
case 3:
case 3:
speak = 1;
break;
case 4:
/trunk/mkprotocol.c
54,10 → 54,10
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <stdarg.h>
#include <stdio.h>
#include "91x_lib.h"
#include "mkprotocol.h"
#include "ramfunc.h"
#include "usb.h"
#include "uart1.h"
#include "main.h"
 
/trunk/ncmag.c
7,7 → 7,7
// + 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
// + 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.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
18,7 → 18,7
// + 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
// + 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.
32,7 → 32,7
// + 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 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
55,12 → 55,11
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "91x_lib.h"
#include "ncmag.h"
#include "i2c1.h"
#include "i2c0.h"
 
#include "i2c.h"
#include "timer1.h"
#include "led.h"
#include "uart1.h"
72,16 → 71,7
u8 NCMAG_Present = 0;
u8 NCMAG_IsCalibrated = 0;
 
u8 I2C_CompassPort = 1;
u8 ExtCompassOrientation = 0;
 
u8 *I2C_BufferPnt;
u8 *I2C_ErrorPnt;
I2C_TransmissionFunc_t I2C_TransmissionFunc;
I2C_LockBufferFunc_t I2C_LockBufferFunc;
I2C_WaitForEndOfTransmissionFunc_t I2C_WaitForEndOfTransmissionFunc;
 
 
// supported magnetic sensor types
#define TYPE_NONE 0
#define TYPE_HMC5843 1
89,8 → 79,35
#define TYPE_LSM303DLM 3
 
u8 NCMAG_SensorType = TYPE_NONE;
u8 NCMAG_Orientation = 0; // 0 means unknown!
 
Calibration_t Calibration; // calibration data in RAM
// two calibrtion sets for extern and intern sensor
#define EEPROM_ADR_MAG_CALIBRATION_INTERN 50
#define EEPROM_ADR_MAG_CALIBRATION_EXTERN 70
 
#define CALIBRATION_VERSION 1
#define MAG_CALIBRATION_COMPATIBLE 0xA2
 
#define NCMAG_MIN_RAWVALUE -2047
#define NCMAG_MAX_RAWVALUE 2047
#define NCMAG_INVALID_DATA -4096
 
typedef struct
{
s16 Range;
s16 Offset;
} __attribute__((packed)) Scaling_t;
 
typedef struct
{
Scaling_t MagX;
Scaling_t MagY;
Scaling_t MagZ;
u8 Version;
u8 crc;
} __attribute__((packed)) Calibration_t;
 
Calibration_t Calibration; // calibration data in RAM
volatile s16vec_t AccRawVector;
volatile s16vec_t MagRawVector;
 
152,7 → 169,7
// bit mask for gain
#define HMC5843_CRB_GAIN_07GA 0x00
#define HMC5843_CRB_GAIN_10GA 0x20 //default
#define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this
#define HMC5843_CRB_GAIN_15GA 0x40 // <--- we use this
#define HMC5843_CRB_GAIN_20GA 0x60
#define HMC5843_CRB_GAIN_32GA 0x80
#define HMC5843_CRB_GAIN_38GA 0xA0
208,10 → 225,6
 
volatile MagConfig_t MagConfig;
 
 
 
 
 
// self test value
#define LSM303DLH_TEST_XSCALE 495
#define LSM303DLH_TEST_YSCALE 495
253,7 → 266,7
#define ACC_CRTL1_DR_100HZ 0x08
#define ACC_CRTL1_DR_400HZ 0x10
#define ACC_CRTL1_DR_1000HZ 0x18
// axis anable flags
// axis anable flags
#define ACC_CRTL1_XEN 0x01
#define ACC_CRTL1_YEN 0x02
#define ACC_CRTL1_ZEN 0x04
286,49 → 299,57
 
volatile AccConfig_t AccConfig;
 
u8 NCMag_CalibrationWrite(u8 intern) // two calibrtion sets for extern and intern sensor
// write calibration data for external and internal sensor seperately
u8 NCMag_CalibrationWrite(I2C_TypeDef* I2Cx)
{
u16 address;
u8 i, crc = MAG_CALIBRATION_COMPATIBLE;
u8 i = 0, crc = MAG_CALIBRATION_COMPATIBLE;
EEPROM_Result_t eres;
u8 *pBuff = (u8*)&Calibration;
Calibration.Version = CALIBRATION_VERSION;
 
if(intern == I2C_INTERN_1) address = EEPROM_ADR_MAG_CALIBRATION_INTERN;
else
if (I2Cx == NCMAG_PORT_EXTERN)
{
address = EEPROM_ADR_MAG_CALIBRATION_EXTERN;
Calibration.Version = CALIBRATION_VERSION + ExtCompassOrientation * 16;
address = EEPROM_ADR_MAG_CALIBRATION_EXTERN;
Calibration.Version = CALIBRATION_VERSION + (NCMAG_Orientation<<4);;
}
else if (I2Cx == NCMAG_PORT_INTERN)
{
address = EEPROM_ADR_MAG_CALIBRATION_INTERN;
Calibration.Version = CALIBRATION_VERSION;
}
else return(i);
 
for(i = 0; i<(sizeof(Calibration)-1); i++)
{
crc += pBuff[i];
crc += pBuff[i];
}
Calibration.crc = ~crc;
eres = EEPROM_WriteBlock(address, pBuff, sizeof(Calibration));
if(EEPROM_SUCCESS == eres) i = 1;
else i = 0;
return(i);
return(i);
}
 
u8 NCMag_CalibrationRead(u8 intern) // two calibrtion sets for extern and intern sensor
// read calibration data for external and internal sensor seperately
u8 NCMag_CalibrationRead(I2C_TypeDef* I2Cx)
{
u8 i, crc = MAG_CALIBRATION_COMPATIBLE;
u8 address;
u8 i = 0, crc = MAG_CALIBRATION_COMPATIBLE;
u8 *pBuff = (u8*)&Calibration;
u16 address;
 
if(intern == I2C_INTERN_1) address = EEPROM_ADR_MAG_CALIBRATION_INTERN;
else address = EEPROM_ADR_MAG_CALIBRATION_EXTERN;
if (I2Cx == NCMAG_PORT_EXTERN) address = EEPROM_ADR_MAG_CALIBRATION_EXTERN;
else if (I2Cx == NCMAG_PORT_INTERN) address = EEPROM_ADR_MAG_CALIBRATION_INTERN;
else return(0);
 
if(EEPROM_SUCCESS == EEPROM_ReadBlock(address, pBuff, sizeof(Calibration)))
{
for(i = 0; i<(sizeof(Calibration)-1); i++)
{
crc += pBuff[i];
crc += pBuff[i];
}
crc = ~crc;
if(Calibration.crc != crc) return(0); // crc mismatch
if((Calibration.Version & 0x0f) == CALIBRATION_VERSION) return(1);
if((Calibration.Version & 0x0F) == CALIBRATION_VERSION) return(1);
}
return(0);
}
338,9 → 359,9
{
u8 msg[64];
static u8 speak = 0;
static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0, Zmin2 = 0, Zmax2 = 0;
static s16 Xmin = 0, Xmax = 0, Ymin = 0, Ymax = 0, Zmin = 0, Zmax = 0, Zmin2 = 0, Zmax2 = 0;;
static s16 X = 0, Y = 0, Z = 0;
static u8 OldCalState = 0;
static u8 OldCalState = 0;
s16 MinCalibration = 450;
 
X = (X + MagRawVector.X)/2;
359,21 → 380,22
Ymax = -10000;
Zmin = 10000;
Zmax = -10000;
speak = 1;
speak = 1;
CompassValueErrorCount = 0;
if(Compass_CalState != OldCalState) // avoid continously writing of eeprom!
if(Compass_CalState != OldCalState) // only once per state
{
UART1_PutString("\r\nStarting compass calibration");
if(I2C_CompassPort == I2C_EXTERN_0)
{
if(!ExtCompassOrientation) ExtCompassOrientation = GetExtCompassOrientation();
UART1_PutString(" - External sensor ");
sprintf(msg, "with orientation: %d ",ExtCompassOrientation);
UART1_PutString(msg);
}
else UART1_PutString(" - Internal sensor ");
UART1_PutString("\r\nStarting compass calibration");
if(Compass_I2CPort == NCMAG_PORT_EXTERN)
{
if(!NCMAG_Orientation) NCMAG_Orientation = NCMAG_GetOrientationFromAcc();
UART1_PutString(" - External sensor ");
sprintf(msg, "with orientation: %d ", NCMAG_Orientation);
UART1_PutString(msg);
}
else UART1_PutString(" - Internal sensor ");
}
break;
 
case 2: // 2nd step of calibration
// find Min and Max of the X- and Y-Sensors during rotation in the horizontal plane
if(X < Xmin) { Xmin = X; BeepTime = 20;}
380,30 → 402,27
else if(X > Xmax) { Xmax = X; BeepTime = 20;}
if(Y < Ymin) { Ymin = Y; BeepTime = 60;}
else if(Y > Ymax) { Ymax = Y; BeepTime = 60;}
if(Z < Zmin) { Zmin = Z; } // silent
if(Z < Zmin) { Zmin = Z; } // silent
else if(Z > Zmax) { Zmax = Z; }
 
if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0;
break;
 
case 3: // 3rd step of calibration
// used to change the orientation of the MK3MAG vertical to the horizontal plane
speak = 1;
speak = 1;
break;
 
case 4:
// find Min and Max of the Z-Sensor
if(Z < Zmin2) { Zmin2 = Z; BeepTime = 80;}
else if(Z > Zmax2) { Zmax2 = Z; BeepTime = 80;}
if(X < Xmin) { Xmin = X; BeepTime = 20;}
else if(X > Xmax) { Xmax = X; BeepTime = 20;}
if(Z < Zmin2) { Zmin2 = Z; BeepTime = 80;}
else if(Z > Zmax2) { Zmax2 = Z; BeepTime = 80;}
if(X < Xmin) { Xmin = X; BeepTime = 20;}
else if(X > Xmax) { Xmax = X; BeepTime = 20;}
if(Y < Ymin) { Ymin = Y; BeepTime = 60;}
else if(Y > Ymax) { Ymax = Y; BeepTime = 60;}
 
if(speak) SpeakHoTT = SPEAK_CALIBRATE; speak = 0;
break;
 
case 5:
// Save values
if(Compass_CalState != OldCalState) // avoid continously writing of eeprom!
410,28 → 429,27
{
switch(NCMAG_SensorType)
{
case TYPE_HMC5843:
UART1_PutString("\r\nFinished: HMC5843 calibration\n\r");
MinCalibration = HMC5843_CALIBRATION_RANGE;
break;
case TYPE_HMC5843:
UART1_PutString("\r\nFinished: HMC5843 calibration\n\r");
MinCalibration = HMC5843_CALIBRATION_RANGE;
break;
 
case TYPE_LSM303DLH:
case TYPE_LSM303DLM:
UART1_PutString("\r\nFinished: LSM303 calibration\n\r");
MinCalibration = LSM303_CALIBRATION_RANGE;
break;
case TYPE_LSM303DLM:
UART1_PutString("\r\nFinished: LSM303 calibration\n\r");
MinCalibration = LSM303_CALIBRATION_RANGE;
break;
}
if(EarthMagneticStrengthTheoretic)
{
MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50;
sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic);
UART1_PutString(msg);
}
{
MinCalibration = (MinCalibration * EarthMagneticStrengthTheoretic) / 50;
sprintf(msg, "Earth field on your location should be: %iuT\r\n",EarthMagneticStrengthTheoretic);
UART1_PutString(msg);
}
else UART1_PutString("without GPS\n\r");
 
if(Zmin2 < Zmin) { Zmin = Zmin2; }
else if(Zmax2 > Zmax) { Zmax = Zmax2; }
 
if(Zmin2 < Zmin) Zmin = Zmin2;
if(Zmax2 > Zmax) Zmax = Zmax2;
Calibration.MagX.Range = Xmax - Xmin;
Calibration.MagX.Offset = (Xmin + Xmax) / 2;
Calibration.MagY.Range = Ymax - Ymin;
439,22 → 457,22
Calibration.MagZ.Range = Zmax - Zmin;
Calibration.MagZ.Offset = (Zmin + Zmax) / 2;
if(CompassValueErrorCount)
{
{
SpeakHoTT = SPEAK_ERR_CALIBARTION;
UART1_PutString("\r\nCalibration FAILED - Compass sensor error !!!!\r\n ");
 
}
}
else
if((Calibration.MagX.Range > MinCalibration) && (Calibration.MagY.Range > MinCalibration) && (Calibration.MagZ.Range > MinCalibration))
{
NCMAG_IsCalibrated = NCMag_CalibrationWrite(I2C_CompassPort);
NCMAG_IsCalibrated = NCMag_CalibrationWrite(Compass_I2CPort);
BeepTime = 2500;
UART1_PutString("\r\n-> Calibration okay <-\n\r");
SpeakHoTT = SPEAK_MIKROKOPTER;
SpeakHoTT = SPEAK_MIKROKOPTER;
}
else
{
SpeakHoTT = SPEAK_ERR_CALIBARTION;
SpeakHoTT = SPEAK_ERR_CALIBARTION;
UART1_PutString("\r\nCalibration FAILED - Values too low: ");
if(Calibration.MagX.Range < MinCalibration) UART1_PutString("X! ");
if(Calibration.MagY.Range < MinCalibration) UART1_PutString("Y! ");
462,7 → 480,7
UART1_PutString("\r\n");
 
// restore old calibration data from eeprom
NCMAG_IsCalibrated = NCMag_CalibrationRead(I2C_CompassPort);
NCMAG_IsCalibrated = NCMag_CalibrationRead(Compass_I2CPort);
}
sprintf(msg, "X: (%i - %i = %i)\r\n",Xmax,Xmin,Xmax - Xmin);
UART1_PutString(msg);
474,9 → 492,9
UART1_PutString(msg);
}
break;
 
default:
break;
break;
}
OldCalState = Compass_CalState;
}
508,57 → 526,59
s16 raw, X = 0, Y = 0, Z = 0;
raw = pRxBuffer[0]<<8;
raw+= pRxBuffer[1];
if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) X = raw;
if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE) X = raw;
else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data
 
raw = pRxBuffer[2]<<8;
raw+= pRxBuffer[3];
if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE)
if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE)
{
if(NCMAG_SensorType == TYPE_LSM303DLM) Z = raw; // here Z and Y are exchanged
else Y = raw;
else Y = raw;
}
else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data
 
raw = pRxBuffer[4]<<8;
raw+= pRxBuffer[5];
if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE)
if(raw >= NCMAG_MIN_RAWVALUE && raw <= NCMAG_MAX_RAWVALUE)
{
if(NCMAG_SensorType == TYPE_LSM303DLM) Y = raw; // here Z and Y are exchanged
else Z = raw;
else Z = raw;
}
else if(CompassValueErrorCount < 35) CompassValueErrorCount++; // invalid data
 
switch(ExtCompassOrientation)
// correct compass orientation
switch(NCMAG_Orientation)
{
case 0:
case 1:
default:
case 0:
case 1:
default:
// 1:1 Mapping
MagRawVector.X = X;
MagRawVector.Y = Y;
MagRawVector.Z = Z;
break;
case 2:
case 2:
MagRawVector.X = -X;
MagRawVector.Y = Y;
MagRawVector.Z = -Z;
break;
case 3:
case 3:
MagRawVector.X = -Z;
MagRawVector.Y = Y;
MagRawVector.Z = X;
break;
case 4:
case 4:
MagRawVector.X = Z;
MagRawVector.Y = Y;
MagRawVector.Z = -X;
break;
case 5:
case 5:
MagRawVector.X = X;
MagRawVector.Y = -Z;
MagRawVector.Z = Y;
break;
case 6:
case 6:
MagRawVector.X = -X;
MagRawVector.Y = -Z;
MagRawVector.Z = -Y;
583,36 → 603,15
}
// rx data handler for acceleration raw data
void NCMAG_UpdateAccVector(u8* pRxBuffer, u8 RxBufferSize)
{ // if number of byte are matching
{ // if number of bytes are matching
if(RxBufferSize == sizeof(AccRawVector) )
{
{
// copy from I2C buffer
memcpy((u8*)&AccRawVector, pRxBuffer,sizeof(AccRawVector));
// scale and update Acc Vector, at the moment simply 1:1
memcpy((u8*)&AccVector, (u8*)&AccRawVector,sizeof(AccRawVector));
}
}
 
u8 GetExtCompassOrientation(void)
{
if(I2C_CompassPort != I2C_EXTERN_0) return(0);
 
if((abs(FromFlightCtrl.AngleNick) > 300) || (abs(FromFlightCtrl.AngleRoll) > 300))
{
// UART1_PutString("\r\nTilted");
return(0);
}
if(AccRawVector.Z > 3300) return(1); // Flach - Bestückung oben - Pfeil nach vorn
else
if(AccRawVector.Z < -3300) return(2); // Flach - Bestückung unten - Pfeil nach vorn
else
if(AccRawVector.X > 3300) return(3); // Flach - Bestückung Links - Pfeil nach vorn
else
if(AccRawVector.X < -3300) return(4); // Flach - Bestückung rechts - Pfeil nach vorn
else
if(AccRawVector.Y > 3300) return(5); // Stehend - Pfeil nach oben - 'front' nach vorn
else
if(AccRawVector.Y < -3300) return(6); // Stehend - Pfeil nach unten - 'front' nach vorn
return(0);
}
 
// rx data handler for reading magnetic sensor configuration
void NCMAG_UpdateMagConfig(u8* pRxBuffer, u8 RxBufferSize)
{ // if number of byte are matching
631,27 → 630,54
}
//----------------------------------------------------------------------
 
u8 NCMAG_GetOrientationFromAcc(void)
{
// only if external compass connected
if(Compass_I2CPort != NCMAG_PORT_EXTERN) return(0);
// MK must not be tilted
if((abs(FromFlightCtrl.AngleNick) > 300) || (abs(FromFlightCtrl.AngleRoll) > 300))
{
// UART1_PutString("\r\nTilted");
return(0);
}
// select orientation
if(AccRawVector.Z > 3300) return(1); // Flach - Bestückung oben - Pfeil nach vorn
else
if(AccRawVector.Z < -3300) return(2); // Flach - Bestückung unten - Pfeil nach vorn
else
if(AccRawVector.X > 3300) return(3); // Flach - Bestückung Links - Pfeil nach vorn
else
if(AccRawVector.X < -3300) return(4); // Flach - Bestückung rechts - Pfeil nach vorn
else
if(AccRawVector.Y > 3300) return(5); // Stehend - Pfeil nach oben - 'front' nach vorn
else
if(AccRawVector.Y < -3300) return(6); // Stehend - Pfeil nach unten - 'front' nach vorn
return(0);
}
 
// ---------------------------------------------------------------------
u8 NCMAG_SetMagConfig(void)
{
u8 retval = 0;
 
// try to catch the i2c buffer within 100 ms timeout
if(I2C_LockBufferFunc(100))
if(I2CBus_LockBuffer(Compass_I2CPort, 100))
{
u8 TxBytes = 0;
I2C_BufferPnt[TxBytes++] = REG_MAG_CRA;
memcpy((u8*)(&I2C_BufferPnt[TxBytes]), (u8*)&MagConfig, sizeof(MagConfig));
u8 TxData[sizeof(MagConfig) + 3];
 
TxData[TxBytes++] = REG_MAG_CRA;
memcpy(&TxData[TxBytes], (u8*)&MagConfig, sizeof(MagConfig));
TxBytes += sizeof(MagConfig);
if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, 0, 0))
if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, 0, 0))
{
if(I2C_WaitForEndOfTransmissionFunc(100))
if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100))
{
if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1;
if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1;
}
}
}
return(retval);
return(retval);
}
 
// ----------------------------------------------------------------------------------------
659,19 → 685,20
{
u8 retval = 0;
// try to catch the i2c buffer within 100 ms timeout
if(I2C_LockBufferFunc(100))
if(I2CBus_LockBuffer(Compass_I2CPort, 100))
{
u8 TxBytes = 0;
I2C_BufferPnt[TxBytes++] = REG_MAG_CRA;
if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig)))
u8 TxData[3];
TxData[TxBytes++] = REG_MAG_CRA;
if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateMagConfig, sizeof(MagConfig)))
{
if(I2C_WaitForEndOfTransmissionFunc(100))
if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100))
{
if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1;
if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1;
}
}
}
return(retval);
return(retval);
}
 
// ----------------------------------------------------------------------------------------
678,22 → 705,23
u8 NCMAG_SetAccConfig(void)
{
u8 retval = 0;
// try to catch the i2c buffer within 100 ms timeout
if(I2C_LockBufferFunc(50))
// try to catch the i2c buffer within 50 ms timeout
if(I2CBus_LockBuffer(Compass_I2CPort, 50))
{
u8 TxBytes = 0;
I2C_BufferPnt[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT;
memcpy((u8*)(&I2C_BufferPnt[TxBytes]), (u8*)&AccConfig, sizeof(AccConfig));
u8 TxData[sizeof(AccConfig) + 3];
TxData[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT;
memcpy(&TxData[TxBytes], (u8*)&AccConfig, sizeof(AccConfig));
TxBytes += sizeof(AccConfig);
if(I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, 0, 0))
if(I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, 0, 0))
{
if(I2C_WaitForEndOfTransmissionFunc(50))
if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 50))
{
if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1;
if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1;
}
}
}
return(retval);
return(retval);
}
 
// ----------------------------------------------------------------------------------------
701,19 → 729,20
{
u8 retval = 0;
// try to catch the i2c buffer within 100 ms timeout
if(I2C_LockBufferFunc(100))
if(I2CBus_LockBuffer(Compass_I2CPort, 100))
{
u8 TxBytes = 0;
I2C_BufferPnt[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT;
if(I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig)))
u8 TxData[3];
TxData[TxBytes++] = REG_ACC_CTRL1|REG_ACC_MASK_AUTOINCREMENT;
if(I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateAccConfig, sizeof(AccConfig)))
{
if(I2C_WaitForEndOfTransmissionFunc(100))
if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100))
{
if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1;
if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1;
}
}
}
return(retval);
return(retval);
}
 
// ----------------------------------------------------------------------------------------
721,19 → 750,20
{
u8 retval = 0;
// try to catch the i2c buffer within 100 ms timeout
if(I2C_LockBufferFunc(100))
if(I2CBus_LockBuffer(Compass_I2CPort, 100))
{
u16 TxBytes = 0;
u8 TxBytes = 0;
u8 TxData[3];
NCMAG_Identification.A = 0xFF;
NCMAG_Identification.B = 0xFF;
NCMAG_Identification.C = 0xFF;
I2C_BufferPnt[TxBytes++] = REG_MAG_IDA;
TxData[TxBytes++] = REG_MAG_IDA;
// initiate transmission
if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification)))
if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateIdentification, sizeof(NCMAG_Identification)))
{
if(I2C_WaitForEndOfTransmissionFunc(100))
if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100))
{
if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1;
if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1;
}
}
}
744,17 → 774,18
{
u8 retval = 0;
// try to catch the i2c buffer within 100 ms timeout
if(I2C_LockBufferFunc(100))
if(I2CBus_LockBuffer(Compass_I2CPort, 100))
{
u16 TxBytes = 0;
u8 TxBytes = 0;
u8 TxData[3];
NCMAG_Identification2.Sub = 0xFF;
I2C_BufferPnt[TxBytes++] = REG_MAG_IDF;
TxData[TxBytes++] = REG_MAG_IDF;
// initiate transmission
if(I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2)))
if(I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateIdentification_Sub, sizeof(NCMAG_Identification2)))
{
if(I2C_WaitForEndOfTransmissionFunc(100))
if(I2CBus_WaitForEndOfTransmission(Compass_I2CPort, 100))
{
if(*I2C_ErrorPnt == I2C_ERROR_NONE) retval = 1;
if(I2CBus(Compass_I2CPort)->Error == I2C_ERROR_NONE) retval = 1;
}
}
}
763,16 → 794,17
 
 
// ----------------------------------------------------------------------------------------
void NCMAG_GetMagVector(void)
void NCMAG_GetMagVector(u8 timeout)
{
// try to catch the I2C buffer within 0 ms
if(I2C_LockBufferFunc(5))
// try to catch the I2C buffer within timeout ms
if(I2CBus_LockBuffer(Compass_I2CPort, timeout))
{
u16 TxBytes = 0;
u8 TxBytes = 0;
u8 TxData[3];
// set register pointer
I2C_BufferPnt[TxBytes++] = REG_MAG_DATAX_MSB;
TxData[TxBytes++] = REG_MAG_DATAX_MSB;
// initiate transmission
I2C_TransmissionFunc(MAG_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector));
I2CBus_Transmission(Compass_I2CPort, MAG_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateMagVector, sizeof(MagVector));
}
}
 
779,22 → 811,20
//----------------------------------------------------------------
void NCMAG_GetAccVector(u8 timeout)
{
// try to catch the I2C buffer within 0 ms
if(I2C_LockBufferFunc(timeout))
// try to catch the I2C buffer within timeout ms
if(I2CBus_LockBuffer(Compass_I2CPort, timeout))
{
u16 TxBytes = 0;
u8 TxBytes = 0;
u8 TxData[3];
// set register pointer
I2C_BufferPnt[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT;
TxData[TxBytes++] = REG_ACC_X_LSB|REG_ACC_MASK_AUTOINCREMENT;
// initiate transmission
I2C_TransmissionFunc(ACC_SLAVE_ADDRESS, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector));
//DebugOut.Analog[16] = AccRawVector.X;
//DebugOut.Analog[17] = AccRawVector.Y;
//DebugOut.Analog[18] = AccRawVector.Z;
I2CBus_Transmission(Compass_I2CPort, ACC_SLAVE_ADDRESS, TxData, TxBytes, &NCMAG_UpdateAccVector, sizeof(AccRawVector));
}
}
 
//----------------------------------------------------------------
u8 InitNC_MagnetSensor(void)
u8 NCMAG_ConfigureSensor(void)
{
u8 crb_gain, cra_rate;
 
838,10 → 868,10
static u32 TimerUpdate = 0;
static s8 send_config = 0;
u32 delay = 20;
 
if(init) TimerUpdate = SetDelay(10);
 
// todo State Handling for both busses !!
if((I2C1_State == I2C_STATE_OFF) || (I2C_CompassPort == 0 && I2C0_State == I2C_STATE_OFF)/* || !NCMAG_Present*/ )
if( (I2CBus(Compass_I2CPort)->State == I2C_STATE_UNDEF) /*|| !NCMAG_Present*/ )
{
Compass_Heading = -1;
DebugOut.Analog[14]++; // count I2C error
848,13 → 878,13
TimerUpdate = SetDelay(10);
return;
}
if(CheckDelay(TimerUpdate))// && I2C0_State == I2C_STATE_IDLE && I2C1_State == I2C_STATE_IDLE)
if(CheckDelay(TimerUpdate))
{
if(Compass_Heading != -1) send_config = 0; // no re-configuration if value is valid
if(++send_config == 25) // 500ms
{
send_config = -25; // next try after 1 second
InitNC_MagnetSensor();
NCMAG_ConfigureSensor();
TimerUpdate = SetDelay(20); // back into the old time-slot
}
else
863,29 → 893,31
// check for new calibration state
Compass_UpdateCalState();
if(Compass_CalState) NCMAG_Calibrate();
 
// in case of LSM303 type
switch(NCMAG_SensorType)
{
case TYPE_HMC5843:
NCMAG_GetMagVector();
delay = 20;
case TYPE_HMC5843:
delay = 20; // next cycle after 20 ms
NCMAG_GetMagVector(5);
break;
case TYPE_LSM303DLH:
case TYPE_LSM303DLM:
delay = 20;
//delay = 2;
if(s-- || (I2C_CompassPort == I2C_INTERN_1)) NCMAG_GetMagVector();
else
{
if(AccRawVector.X + AccRawVector.Y + AccRawVector.Z == 0) NCMAG_Init_ACCSensor();
NCMAG_GetAccVector(5);
delay = 10;
s = 40; // about 0,8 sec
};
if(!s) delay = 10; // ACC-Reading in the next step after 10ms
//if(!s) delay = 2; // ACC-Reading in the next step after 10ms
break;
 
if(s-- || (Compass_I2CPort == NCMAG_PORT_INTERN))
{
delay = 20; // next cycle after 20 ms
NCMAG_GetMagVector(5);
}
else // having an external compass, read every 50th cycle the ACC vec
{ // try to initialize if no data are there
if((AccRawVector.X + AccRawVector.Y + AccRawVector.Z) == 0) NCMAG_Init_ACCSensor();
// get new data
NCMAG_GetAccVector(5);
delay = 10; // next cycle after 10 ms
s = 40; //reset downconter about 0,8 sec
}
break;
}
if(send_config == 24) TimerUpdate = SetDelay(15); // next event is the re-configuration
else TimerUpdate = SetDelay(delay); // every 20 ms are 50 Hz
901,7 → 933,7
static u8 done = 0;
 
if(done) return(1); // just make it once
 
#define LIMITS(value, min, max) {min = (80 * value)/100; max = (120 * value)/100;}
u32 time;
s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0;
928,9 → 960,9
break;
 
case TYPE_LSM303DLM:
// does not support self test feature
done = retval;
return(retval);
// does not support self test feature
done = 1;
return(1); // always return success
break;
 
default:
949,7 → 981,7
#define AVERAGE 20
for(i = 0; i<AVERAGE; i++)
{
NCMAG_GetMagVector();
NCMAG_GetMagVector(5);
time = SetDelay(20);
while(!CheckDelay(time));
XMax += MagRawVector.X;
965,7 → 997,7
// averaging
for(i = 0; i < AVERAGE; i++)
{
NCMAG_GetMagVector();
NCMAG_GetMagVector(5);
time = SetDelay(20);
while(!CheckDelay(time));
XMin += MagRawVector.X;
980,7 → 1012,7
// prepare scale limits
LIMITS(xscale, scale_min, scale_max);
xscale = (XMax - XMin)/(2*AVERAGE);
if((xscale > scale_max) || (xscale < scale_min))
if((xscale > scale_max) || (xscale < scale_min))
{
retval = 0;
sprintf(msg, "\r\n Value X: %d not %d-%d !", xscale, scale_min,scale_max);
988,7 → 1020,7
}
LIMITS(yscale, scale_min, scale_max);
yscale = (YMax - YMin)/(2*AVERAGE);
if((yscale > scale_max) || (yscale < scale_min))
if((yscale > scale_max) || (yscale < scale_min))
{
retval = 0;
sprintf(msg, "\r\n Value Y: %d not %d-%d !", yscale, scale_min,scale_max);
996,7 → 1028,7
}
LIMITS(zscale, scale_min, scale_max);
zscale = (ZMax - ZMin)/(2*AVERAGE);
if((zscale > scale_max) || (zscale < scale_min))
if((zscale > scale_max) || (zscale < scale_min))
{
retval = 0;
sprintf(msg, "\r\n Value Z: %d not %d-%d !", zscale, scale_min,scale_max);
1007,178 → 1039,196
}
 
 
//----------------------------------------------------------------
void NCMAG_SelectI2CBus(u8 busno)
{
if (busno == 0)
{
I2C_WaitForEndOfTransmissionFunc = &I2C0_WaitForEndOfTransmission;
I2C_LockBufferFunc = &I2C0_LockBuffer;
I2C_TransmissionFunc = &I2C0_Transmission;
I2C_BufferPnt = I2C0_Buffer;
I2C_ErrorPnt = &I2C0_Error;
}
else
{
I2C_WaitForEndOfTransmissionFunc = &I2C1_WaitForEndOfTransmission;
I2C_LockBufferFunc = &I2C1_LockBuffer;
I2C_TransmissionFunc = &I2C1_Transmission;
I2C_BufferPnt = I2C1_Buffer;
I2C_ErrorPnt = &I2C1_Error;
}
void NCMAG_CheckOrientation(void)
{ // only for external sensor
if(Compass_I2CPort == NCMAG_PORT_EXTERN)
{
NCMAG_Orientation = NCMAG_GetOrientationFromAcc();
if(NCMAG_Orientation != (Calibration.Version>>4)) NCMAG_IsCalibrated = 0;
else NCMAG_IsCalibrated = 1;
}
}
 
//----------------------------------------------------------------
u8 NCMAG_Init(void)
{
u8 msg[64];
u8 retval = 0;
u8 repeat = 0;
MagRawVector.X = 0;
MagRawVector.Y = 0;
MagRawVector.Z = 0;
AccRawVector.X = 0;
AccRawVector.Y = 0;
AccRawVector.Z = 0;
 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Search external sensor
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
I2C_CompassPort = I2C_EXTERN_0;
NCMAG_SelectI2CBus(I2C_CompassPort);
 
// get id bytes
retval = 0;
for(repeat = 0; repeat < 5; repeat++)
if(NCMAG_Present) // do only short init ! , full init was called before
{
// retval = NCMAG_GetIdentification();
retval = NCMAG_GetAccConfig(); // only the sensor with ACC is supported
if(retval) break; // break loop on success
UART1_PutString("_");
}
//retval = 1;
if(!retval)
{
UART1_PutString(" internal sensor ");
I2C_CompassPort = I2C_INTERN_1;
NCMAG_SelectI2CBus(I2C_CompassPort);
// reset I2C Bus
I2CBus_Deinit(Compass_I2CPort);
I2CBus_Init(Compass_I2CPort);
// try to reconfigure senor
NCMAG_ConfigureSensor();
NCMAG_Update(1);
}
else
else // full init
{
UART1_PutString(" external sensor ");
NCMAG_Init_ACCSensor();
u8 msg[64];
u8 retval = 0;
u8 repeat = 0;
 
for(repeat = 0; repeat < 100; repeat++)
{
NCMAG_GetAccVector(10); // only the sensor with ACC is supported
ExtCompassOrientation = GetExtCompassOrientation();
if(ExtCompassOrientation && (ExtCompassOrientation == Calibration.Version / 16)) break;
//UART1_Putchar('-');
}
//DebugOut.Analog[19] = repeat;
//--------------------------------------------
// search external sensor first
//--------------------------------------------
Compass_I2CPort = NCMAG_PORT_EXTERN;
// get id bytes
retval = 0;
for(repeat = 0; repeat < 5; repeat++)
{
//retval = NCMAG_GetIdentification();
retval = NCMAG_GetAccConfig(); // only the external sensor with ACC is supported
if(retval) break; // break loop on success
UART1_PutString("_");
}
// Extenal sensor not found?
if(!retval)
{
// search internal sensor afterwards
UART1_PutString(" internal sensor");
Compass_I2CPort = NCMAG_PORT_INTERN;
}
else
{
UART1_PutString(" external sensor");
Compass_I2CPort = NCMAG_PORT_EXTERN;
}
//-------------------------------------------
 
if(!ExtCompassOrientation) UART1_PutString(" (Orientation unknown!)");
else
{
NCMag_CalibrationRead(I2C_CompassPort);
sprintf(msg, "with orientation: %d ",ExtCompassOrientation );
UART1_PutString(msg);
if(ExtCompassOrientation != Calibration.Version / 16)
{
sprintf(msg, "\n\r! Warning: calibrated orientation was %d !",Calibration.Version / 16);
UART1_PutString(msg);
}
else UART1_PutString("ok ");
}
 
}
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
NCMAG_Present = 0;
NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843
// polling for LSM302DLH/DLM option by ACC address ack
for(repeat = 0; repeat < 3; repeat++)
{
retval = NCMAG_GetAccConfig();
if(retval) break; // break loop on success
}
if(retval)
{
// initialize ACC sensor
NCMAG_Init_ACCSensor();
 
NCMAG_SensorType = TYPE_LSM303DLH;
// polling of sub identification
for(repeat = 0; repeat < 12; repeat++)
NCMAG_Present = 0;
NCMAG_SensorType = TYPE_HMC5843; // assuming having an HMC5843
// polling for LSM302DLH/DLM option by ACC address ack
repeat = 0;
for(repeat = 0; repeat < 3; repeat++)
{
retval = NCMAG_GetIdentification_Sub();
retval = NCMAG_GetAccConfig();
if(retval) break; // break loop on success
}
if(retval)
{
if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM;
}
}
// get id bytes
for(repeat = 0; repeat < 3; repeat++)
{
retval = NCMAG_GetIdentification();
if(retval) break; // break loop on success
}
// initialize ACC sensor
NCMAG_Init_ACCSensor();
 
// if we got an answer to id request
if(retval)
{
u8 n1[] = "\n\r HMC5843";
u8 n2[] = "\n\r LSM303DLH";
u8 n3[] = "\n\r LSM303DLM";
u8* pn = n1;
switch(NCMAG_SensorType)
NCMAG_SensorType = TYPE_LSM303DLH;
// polling of sub identification
repeat = 0;
for(repeat = 0; repeat < 12; repeat++)
{
retval = NCMAG_GetIdentification_Sub();
if(retval) break; // break loop on success
}
if(retval)
{
if(NCMAG_Identification2.Sub == MAG_IDF_LSM303DLM) NCMAG_SensorType = TYPE_LSM303DLM;
}
}
// get id bytes
retval = 0;
for(repeat = 0; repeat < 3; repeat++)
{
case TYPE_HMC5843:
pn = n1;
break;
case TYPE_LSM303DLH:
pn = n2;
break;
case TYPE_LSM303DLM:
pn = n3;
break;
retval = NCMAG_GetIdentification();
if(retval) break; // break loop on success
}
 
sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub);
UART1_PutString(msg);
if ( (NCMAG_Identification.A == MAG_IDA)
&& (NCMAG_Identification.B == MAG_IDB)
&& (NCMAG_Identification.C == MAG_IDC))
// if we got an answer to id request
if(retval)
{
NCMAG_Present = 1;
u8 n1[] = "\n\r HMC5843";
u8 n2[] = "\n\r LSM303DLH";
u8 n3[] = "\n\r LSM303DLM";
u8* pn = n1;
 
if(EEPROM_Init())
switch(NCMAG_SensorType)
{
NCMAG_IsCalibrated = NCMag_CalibrationRead(I2C_CompassPort);
if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!");
case TYPE_HMC5843:
pn = n1;
break;
case TYPE_LSM303DLH:
pn = n2;
break;
case TYPE_LSM303DLM:
pn = n3;
break;
}
else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!");
// perform self test
if(!NCMAG_SelfTest())
{
UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n");
 
sprintf(msg, " %s ID 0x%02x/%02x/%02x-%02x", pn, NCMAG_Identification.A, NCMAG_Identification.B, NCMAG_Identification.C,NCMAG_Identification2.Sub);
UART1_PutString(msg);
if ( (NCMAG_Identification.A == MAG_IDA)
&& (NCMAG_Identification.B == MAG_IDB)
&& (NCMAG_Identification.C == MAG_IDC))
{
NCMAG_Present = 1;
 
if(EEPROM_Init())
{
NCMAG_IsCalibrated = NCMag_CalibrationRead(Compass_I2CPort);
if(!NCMAG_IsCalibrated) UART1_PutString("\r\n Not calibrated!");
}
else UART1_PutString("\r\n EEPROM data not available!!!!!!!!!!!!!!!");
 
// in case of an external sensor, try to get the orientation by acc readings
if(Compass_I2CPort == NCMAG_PORT_EXTERN)
{
// try to get orientation by acc sensor values
for(repeat = 0; repeat < 100; repeat++)
{
NCMAG_GetAccVector(10); // only the sensor with ACC is supported
NCMAG_Orientation = NCMAG_GetOrientationFromAcc();
if(NCMAG_Orientation && (NCMAG_Orientation == Calibration.Version >> 4)) break;
}
// check orientation result if available
sprintf(msg, "\r\n Orientation: ");
UART1_PutString(msg);
if(NCMAG_Orientation)
{
sprintf(msg, "%d ", NCMAG_Orientation);
UART1_PutString(msg);
if(NCMAG_IsCalibrated) // check against calibration data orientation
{
if(NCMAG_Orientation != Calibration.Version >> 4)
{
sprintf(msg, "\n\r Warning: calibrated orientation was %d !",Calibration.Version >> 4);
UART1_PutString(msg);
}
}
}
else
{
UART1_PutString("unknown!");
}
}
 
 
// perform self test
if(!NCMAG_SelfTest())
{
UART1_PutString("\r\n Selftest failed!!!!!!!!!!!!!!!!!!!!\r\n");
LED_RED_ON;
//NCMAG_IsCalibrated = 0;
}
else UART1_PutString("\r\n Selftest ok");
 
// initialize magnetic sensor configuration
NCMAG_ConfigureSensor();
}
else
{
UART1_PutString("\n\r Not compatible!");
UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE;
LED_RED_ON;
// NCMAG_IsCalibrated = 0;
}
else UART1_PutString("\r\n Selftest ok");
 
// initialize magnetic sensor configuration
InitNC_MagnetSensor();
}
}
else
else // nothing found
{
UART1_PutString("\n\r Not compatible!");
UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_INCOMPATIBLE;
LED_RED_ON;
NCMAG_SensorType = TYPE_NONE;
UART1_PutString("not found!");
}
}
else // nothing found
{
NCMAG_SensorType = TYPE_NONE;
UART1_PutString("not found!");
}
return(NCMAG_Present);
}
 
/trunk/ncmag.h
2,56 → 2,19
#define __NCMAG_H
 
#include "compass.h"
#include "i2c1.h"
#include "i2c.h"
 
extern s16vec_t ACC_Vector;
extern volatile s16vec_t MagRawVector;
extern volatile s16vec_t AccRawVector;
#define NCMAG_PORT_EXTERN I2C0
#define NCMAG_PORT_INTERN I2C1
 
#define EEPROM_ADR_MAG_CALIBRATION_INTERN 50 // two calibrtion sets for extern and intern sensor
#define EEPROM_ADR_MAG_CALIBRATION_EXTERN 70
 
#define CALIBRATION_VERSION 1
#define MAG_CALIBRATION_COMPATIBLE 0xA2
 
#define NCMAG_MIN_RAWVALUE -2047
#define NCMAG_MAX_RAWVALUE 2047
#define NCMAG_INVALID_DATA -4096
 
typedef struct
{
s16 Range;
s16 Offset;
} __attribute__((packed)) Scaling_t;
 
typedef struct
{
Scaling_t MagX;
Scaling_t MagY;
Scaling_t MagZ;
u8 Version;
u8 crc;
} __attribute__((packed)) Calibration_t;
 
extern Calibration_t Calibration; // calibration data in RAM
 
#define I2C_EXTERN_0 0
#define I2C_INTERN_1 1
 
extern u8 NCMAG_Init(void);
extern void NCMAG_Update(u8);
extern u8 NCMAG_Present;
extern u8 NCMAG_IsCalibrated;
extern u8 I2C_CompassPort;
extern u8 ExtCompassOrientation;
extern u8 NCMAG_Orientation;
 
u8 NCMAG_Init(void);
void NCMAG_Update(u8 init);
u8 NCMAG_GetOrientationFromAcc(void);
void NCMAG_CheckOrientation(void);
 
extern u8 *I2C_BufferPnt;
extern u8 *I2C_ErrorPnt;
 
typedef u8 (*I2C_TransmissionFunc_t) (u8 SlaveAddr, u8 TxBytes, I2C_pRxHandler_t pRxHandler, u8 RxBytes);
typedef u8 (*I2C_LockBufferFunc_t) (u32 timeout);
typedef u8 (*I2C_WaitForEndOfTransmissionFunc_t) (u32 timeout);
 
#endif // __NCMAG_H
 
/trunk/settings.c
92,8 → 92,8
{PID_MIN_EVENT_TIME , "MIN_EVENT_TIME \0" ,"minimum time of the Waypoint-Event value (seconds) ", 1, 2, 2, 0, 600}, // in seconds
{PID_WP_ACCELERATE , "WAYPOINT DYNAMIC\0" ,"dynamic for flying waypoints in percent (0-200) ", 1, 100, 100, 0, 255}, // in percent or Poti
{PID_WP_WAIT_FOR_LED , "WAIT_FOR_OUT1 \0" ,"Wait on Waypoint until Out-Pattern is finished (1=on 0=off) ", 1, 1, 1, 0, 1},
{PID_SEND_NMEA , "NMEA_INTERVAL \0" ,"NMEA Output interval in ms (0 = disabled) ", 1, 0, 0, 0, 60000},
{PID_CH_SPEED , "COMINGHOME_SPEED\0" ,"Maximum speed for coming home in 0,1m/sec (80 = 8,0 m/sec) ", 1, 80, 80, 10, 150},
{PID_SEND_NMEA , "NMEA_INTERVAL \0" ,"NMEA Output interval in ms (0 = disabled) ", 1, 0, 0, 0, 60000}, // the log interval for NMEA output, 0 = off
{PID_CH_SPEED , "COMINGHOME_SPEED\0" ,"Maximum speed for coming home in 0,1m/sec (80 = 8,0 m/sec) ", 1, 80, 80, 10, 150},
{PID_GPS_AUTOCONFIG , "GPSAUTOCONFIG \0" ,"GPS configmode (0 = off, 1 = on) ", 1, 1, 1, 0, 1}
};
 
/trunk/settings.h
23,7 → 23,7
void Settings_SetDefaultValues(void);
u8 Settings_GetParamValue(ParamId_t Pid, u16* pValue);
extern u16 WaypointAccelerationSetting; // acceleration for flying waypoints in percent (0-100) or Poti -> 255 = Poti1, 254 = Poti2...
extern u16 WaypointAcceleration; // the real value
extern u16 WaypointAcceleration; // the real value
#endif // _SETTINGS_H
 
 
/trunk/spi_slave.c
7,7 → 7,7
// + 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
// + 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.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
18,7 → 18,7
// + 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
// + 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.
32,7 → 32,7
// + 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 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
56,6 → 56,7
 
#include <string.h>
#include <math.h>
#include <stdlib.h>
#include "91x_lib.h"
#include "led.h"
#include "gps.h"
66,11 → 67,8
#include "timer2.h"
#include "config.h"
#include "main.h"
#include "compass.h"
#include "params.h"
#include "stdlib.h"
#include "settings.h"
#include "ncmag.h"
 
#define SPI_RXSYNCBYTE1 0xAA
#define SPI_RXSYNCBYTE2 0x83
83,7 → 81,7
#define SPI0_TIMEOUT 2500 //ms
volatile u32 SPI0_Timeout = 0;
u8 Logging_FCStatusFlags1 = 0,Logging_FCStatusFlags2 = 0;
u8 SpeakHoTT = 0;
u8 SpeakHoTT = 0;
 
// tx packet buffer
#define SPI_TXBUFFER_LEN (2 + sizeof(ToFlightCtrl)) // 2 bytes at start are for synchronization
126,7 → 124,6
s16 POI_KameraNick = 0;
u8 NC_Wait_for_LED = 0;
s16 GyroCompassCorrected = 0; // corrected with the magnetic declination
u8 FromFC_LowVoltageHomeActive = 0;
 
//--------------------------------------------------------------
void SSP0_IRQHandler(void)
293,7 → 290,7
static u32 timeout = 0;
static u8 counter = 50,hott_index = 0, last_error_code = 0, enable_injecting = 0;
static s16 last_wp_event = 0;
s16 tmp;
s16 tmp;
s32 i1,i2;
/*
union
302,7 → 299,7
unsigned int Int[2];
unsigned long Long;
} Temp;
*/
*/
SPIWatchDog = 3500; // stop communication to FC after this timeout
if(SPI_RxBuffer_Request)
{
317,20 → 314,20
ToFlightCtrl.MagVecZ = MagVector.Z;
// ToFlightCtrl.NCStatus = 0;
// cycle spi commands
if(ErrorCode != last_error_code && enable_injecting)
if(ErrorCode != last_error_code && enable_injecting)
{
ToFlightCtrl.Command = SPI_NCCMD_VERSION;
last_error_code = ErrorCode;
enable_injecting = 0;
}
else
if(FC_WP_EventChannel != last_wp_event && enable_injecting)
else
if(FC_WP_EventChannel != last_wp_event && enable_injecting)
{
ToFlightCtrl.Command = SPI_NCCMD_GPSINFO;
last_wp_event = FC_WP_EventChannel;
last_wp_event = FC_WP_EventChannel;
enable_injecting = 0;
}
else
else
{
ToFlightCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++];
// restart command cycle at the end
367,7 → 364,7
else
{
//if(FC.StatusFlags2 & FC_STATUS2_CAREFREE) // only, if carefree is active
POI_KameraNick = CAM_Orientation.Elevation;
POI_KameraNick = CAM_Orientation.Elevation;
//else ToFlightCtrl.Param.sInt[5] = 0;
}
ToFlightCtrl.Param.sInt[5] = POI_KameraNick;
455,12 → 452,12
{
case 0:
//Dezimalgrad --> Grad mit Dezimalminuten --> Grad, Minuten, Sekunden
//53.28 5788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017"
//53.28 5788 7.4847269 --> N53° 17.14728 E7° 29.08362 --> N53° 17' 8.837" E7° 29' 5.017"
ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID;
ToFlightCtrl.Param.Byte[0] = 3+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden
ToFlightCtrl.Param.Byte[1] = 9-1; // how many
//-----------------------------
ToFlightCtrl.Param.Byte[2] = GyroCompassCorrected / 20;//NaviData.HomePositionDeviation.Bearing / 2;
ToFlightCtrl.Param.Byte[2] = GyroCompassCorrected / 20;//NaviData.HomePositionDeviation.Bearing / 2;
i1 = GPSData.Speed_Ground; // in cm/sec
i1 *= 36;
i1 /= 1000;
472,7 → 469,7
i1 = abs(GPSData.Position.Latitude)/10000000L;
i2 = abs(GPSData.Position.Latitude)%10000000L;
if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;}
i1 *= 100;
i1 *= 100;
// Minuten
i2 *= 6;
i2 /= 10;
494,7 → 491,7
i1 = abs(GPSData.Position.Longitude)/10000000L;
i2 = abs(GPSData.Position.Longitude)%10000000L;
if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;}
i1 *= 100;
i1 *= 100;
// Minuten
i2 *= 6;
i2 /= 10;
506,7 → 503,7
ToFlightCtrl.Param.Byte[5] = i2 % 256;
ToFlightCtrl.Param.Byte[6] = i2 / 256;
//-----------------------------
i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m
i1 = NaviData.HomePositionDeviation.Distance / 10; // dann in m
ToFlightCtrl.Param.Byte[7] = i1 % 256;
ToFlightCtrl.Param.Byte[8] = i1 / 256;
break;
514,16 → 511,16
ToFlightCtrl.Param.Byte[11] = HOTT_GENERAL_PACKET_ID;
ToFlightCtrl.Param.Byte[0] = 5+3; // index // +3, weil bei HoTT V4 3 Bytes eingeschoben wurden
ToFlightCtrl.Param.Byte[1] = 2; // how many
ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2);
ToFlightCtrl.Param.Byte[2] = EarthMagneticField / (5 * 2);
ToFlightCtrl.Param.Byte[3] = EarthMagneticInclination / 2;
break;
case 3:
ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID1;
ToFlightCtrl.Param.Byte[0] = 0; // index
ToFlightCtrl.Param.Byte[0] = 0; // index
ToFlightCtrl.Param.Byte[1] = 4; // how many
//JetiExData[14].Value = 53 * 0x10000 + 23467;
if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x40;
else ToFlightCtrl.Param.Byte[5] = 0x00;
if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x40;
else ToFlightCtrl.Param.Byte[5] = 0x00;
ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Latitude)/10000000L;
i2 = abs(GPSData.Position.Latitude)%10000000L;
i2 *= 6;
533,10 → 530,10
break;
case 4:
ToFlightCtrl.Param.Byte[11] = JETI_GPS_PACKET_ID2;
ToFlightCtrl.Param.Byte[0] = 0; // index
ToFlightCtrl.Param.Byte[0] = 0; // index
ToFlightCtrl.Param.Byte[1] = 4; // how many
if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x60;
else ToFlightCtrl.Param.Byte[5] = 0x20;
if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 0x60;
else ToFlightCtrl.Param.Byte[5] = 0x20;
ToFlightCtrl.Param.Byte[4] = abs(GPSData.Position.Longitude)/10000000L;
i2 = abs(GPSData.Position.Longitude)%10000000L;
i2 *= 6;
545,9 → 542,9
ToFlightCtrl.Param.Byte[2] = i2 % 256;
hott_index = 0;
break;
default:
default:
ToFlightCtrl.Param.Byte[0] = 255;
hott_index = 0;
hott_index = 0;
break;
}
break;
587,49 → 584,49
}
else
{
if(FCCalibActive)
{
if(--FCCalibActive == 0)
{
FC_is_Calibrated = 1;
ExtCompassOrientation = GetExtCompassOrientation();
if(ExtCompassOrientation != Calibration.Version / 16) NCMAG_IsCalibrated = 0;
}
}
if(FCCalibActive)
{
if(--FCCalibActive == 0)
{
FC_is_Calibrated = 1;
Compass_Check();
}
}
}
if(FC.StatusFlags & FC_STATUS_START)
{
if(Compass_Heading != -1) HeadFreeStartAngle = (3600 + Compass_Heading * 10 - GeoMagDec) % 3600; else
HeadFreeStartAngle = GyroCompassCorrected;
}
if(FC.StatusFlags & FC_STATUS_START)
{
if(Compass_Heading != -1) HeadFreeStartAngle = (3600 + Compass_Heading * 10 - GeoMagDec) % 3600; else
HeadFreeStartAngle = GyroCompassCorrected;
}
 
if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE))
{
if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen
{
if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m
{
HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1°
}
else // Ansonsten die aktuelle Richtung übernehmen
HeadFreeStartAngle = GyroCompassCorrected; // in 0.1°
if((Parameter.ExtraConfig & CFG_TEACHABLE_CAREFREE))
{
if(!(FC.StatusFlags2 & FC_STATUS2_CAREFREE)) // CF ist jetzt ausgeschaltet -> neue Richtung lernen
{
if((NaviData.HomePositionDeviation.Distance > 200) && (NCFlags & NC_FLAG_GPS_OK)) // nur bei ausreichender Distance -> 20m
{
HeadFreeStartAngle = (10 * NaviData.HomePositionDeviation.Bearing + 1800 + 3600 - Parameter.OrientationAngle * 150) % 3600; // in 0.1°
}
else // Ansonsten die aktuelle Richtung übernehmen
HeadFreeStartAngle = GyroCompassCorrected; // in 0.1°
}
}
 
Parameter.ActiveSetting = FromFlightCtrl.Param.Byte[9];
FC.BAT_Voltage = FromFlightCtrl.Param.Byte[10];
DebugOut.Analog[7] = FC.BAT_Voltage;
DebugOut.Analog[5] = FC.StatusFlags;
NaviData.FCStatusFlags = FC.StatusFlags;
if(FC.StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) NaviData.FCStatusFlags &= ~FC_STATUS_FLY;
if(FC.StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) NaviData.FCStatusFlags &= ~FC_STATUS_FLY;
FC.StatusFlags2 = FromFlightCtrl.Param.Byte[11];
NaviData.FCStatusFlags2 = (NaviData.FCStatusFlags2 & (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)) | (FC.StatusFlags2 & (0xff - (FC_STATUS2_OUT1_ACTIVE | FC_STATUS2_OUT2_ACTIVE)));
 
if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT1_ACTIVE;
else
else
if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT1_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT1_ACTIVE;
 
if((!(LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && (FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 |= FC_STATUS2_OUT2_ACTIVE;
else
else
if(((LastTransmittedFCStatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) && !(FC.StatusFlags2 & FC_STATUS2_OUT2_ACTIVE)) NaviData.FCStatusFlags2 &= ~FC_STATUS2_OUT2_ACTIVE;
 
Logging_FCStatusFlags1 |= FC.StatusFlags;
673,8 → 670,8
CHK_POTI_MM(Parameter.NaviOut1Parameter,FromFlightCtrl.Param.Byte[0],0,255);
if(FromFlightCtrl.Param.Byte[1]) FC.FromFC_SpeakHoTT = FromFlightCtrl.Param.Byte[1]; // will be cleared in the SD-Logging
Parameter.FromFC_LandingSpeed = FromFlightCtrl.Param.Byte[2];
Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[3];
FromFC_LowVoltageHomeActive = FromFlightCtrl.Param.Byte[4];
Parameter.ComingHomeAltitude = FromFlightCtrl.Param.Byte[3];
Parameter.FromFC_LowVoltageHomeActive = FromFlightCtrl.Param.Byte[4];
break;
case SPI_FCCMD_STICK:
FC.StickGas = FromFlightCtrl.Param.sByte[0];
695,7 → 692,7
case SPI_FCCMD_MISC:
if(CompassCalState != FromFlightCtrl.Param.Byte[0])
{ // put only new CompassCalState into queue to send via I2C
// if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1 || FromFlightCtrl.Param.Byte[0] == 0)
// if(FromFlightCtrl.Param.Byte[0] == CompassCalState+1 || FromFlightCtrl.Param.Byte[0] == 0)
{
CompassCalState = FromFlightCtrl.Param.Byte[0];
Compass_SetCalState(CompassCalState);
741,16 → 738,16
FC_Version.Hardware = FromFlightCtrl.Param.Byte[4];
FC.Error[0] |= FromFlightCtrl.Param.Byte[5];
FC.Error[1] |= FromFlightCtrl.Param.Byte[6];
if(FromFlightCtrl.Param.Byte[7] >= 68 && FromFlightCtrl.Param.Byte[7] <= 188)
if(FromFlightCtrl.Param.Byte[7] >= 68 && FromFlightCtrl.Param.Byte[7] <= 188)
{
FC.FromFC_DisableDeclination = 1;
FC.FromFC_CompassOffset = 10 * (signed char) ((unsigned char) FromFlightCtrl.Param.Byte[7] - 128);
GeoMagDec = 0;
}
else
FC.FromFC_DisableDeclination = 1;
FC.FromFC_CompassOffset = 10 * (s8) (FromFlightCtrl.Param.Byte[7] - 128);
GeoMagDec = 0;
}
else
{
FC.FromFC_DisableDeclination = 0;
FC.FromFC_CompassOffset = 10 * (signed char) FromFlightCtrl.Param.Byte[7];
FC.FromFC_DisableDeclination = 0;
FC.FromFC_CompassOffset = 10 * FromFlightCtrl.Param.sByte[7];
}
Parameter.GlobalConfig = FromFlightCtrl.Param.Byte[8];
Parameter.ExtraConfig = FromFlightCtrl.Param.Byte[9];
820,15 → 817,27
}while (!CheckDelay(timeout));
UART1_PutString(".");
repeat++;
// FCCalibActive = 1;
FCCalibActive = 1;
}while((FC_Version.Major == 0xFF) && (repeat < 40)); // 40*250ms = 10s
// if we got it
if (FC_Version.Major != 0xFF)
{
sprintf(msg, " FC V%d.%02d%c HW:%d.%d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10);
sprintf(msg, " FC V%d.%d%c HW:%d.%02d", FC_Version.Major, FC_Version.Minor, 'a'+FC_Version.Patch, FC_Version.Hardware/10,FC_Version.Hardware%10);
UART1_PutString(msg);
}
else UART1_PutString("\n\r not found!");
}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55)
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
u16 BL3_Current(u8 who) // in 0,1A
{
if(Motor[who].Current <= 200) return((u16) Motor[who].Current);
else
{
if(Motor_Version[who] & MOTOR_STATE_BL30) return(200 + 10 * (u16) (Motor[who].Current - 200));
else return((u16) Motor[who].Current);
}
}
 
/trunk/spi_slave.h
70,15 → 70,11
extern u8 NC_GPS_ModeCharacter;
extern u8 FC_is_Calibrated;
extern u8 FCCalibActive;
extern u8 SpeakHoTT;
extern u8 SpeakHoTT;
extern u8 NC_Wait_for_LED;
extern s16 GyroCompassCorrected;
 
/*extern u8 MotorCurrent[12];
extern u8 MotorTemperature[12];
extern u8 MotorState[12];
extern u8 MotorMaxPwm[12];
*/
 
extern u8 BL_MinOfMaxPWM; // indication if all BL-controllers run on full power
extern u32 FC_I2C_ErrorConter;
extern u8 FromFC_VarioCharacter;
114,7 → 110,7
#define NC_TO_FC_FLYING_RANGE 0x01
#define NC_TO_FC_EMERGENCY_LANDING 0x02
#define NC_TO_FC_AUTOSTART 0x04
#define NC_TO_FC_AUTOLANDING 0x08 // not used
#define NC_TO_FC_AUTOLANDING 0x08 // not used
 
#define SPI_NCCMD_OSD_DATA 100
#define SPI_NCCMD_GPS_POS 101
138,10 → 134,10
GPS_Stick_t GPSStick;
s16 MagVecX;
s16 CompassHeading;
s16 AccErrorN;
s16 AccErrorR;
s16 AccErrorN;
s16 AccErrorR;
s16 MagVecY;
s16 MagVecZ;
s16 MagVecZ;
u16 BeepTime;
union
{
166,14 → 162,13
 
extern Motor_t Motor[12];
 
 
//Motor_Version[12]
#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01
#define MOTOR_STATE_FAST_MODE 0x02
#define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55)
extern unsigned char Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt
extern u8 Motor_Version[12]; // das kann nicht in die struct, weil der PC die Struktur bekommt
 
 
 
typedef struct
{
u8 Major;
187,12 → 182,12
extern ToFlightCtrl_t ToFlightCtrl;
extern volatile u32 SPI0_Timeout;
extern SPI_Version_t FC_Version;
extern u8 GPS_Aid_StickMultiplikator;
extern u8 GPS_Aid_StickMultiplikator;
extern u8 CompassCalState;
extern u8 FromFC_LowVoltageHomeActive;
 
void SPI0_Init(void);
void SPI0_GetFlightCtrlVersion(void);
void SPI0_UpdateBuffer(void);
u16 BL3_Current(u8 who); // in 0.1A
 
#endif //_SPI_SLAVE_H
/trunk/timer1.c
75,9 → 75,10
if(SD_WatchDog) SD_WatchDog--;
if(SPIWatchDog) SPIWatchDog--;
if(PollingTimeout) PollingTimeout--;
 
// generate SW Interrupt to make a regular timing
// independent from the mainloop at the lowest IRQ priority
VIC_SWITCmd(EXTIT3_ITLine, ENABLE); // Start this Interrupt
VIC_SWITCmd(EXTIT3_ITLine, ENABLE);
}
// IDISABLE;
/trunk/timer2.c
176,7 → 176,7
TIM2->OC2R += pulselen;
}
IDISABLE;
*/
*/
VIC0->VAR = 0xFF; // write any value to VIC0 Vector address register
}
 
185,7 → 185,7
//----------------------------------------------------------------------------------------------------
void TIMER2_Init(void)
{
/*
/*
GPIO_InitTypeDef GPIO_InitStructure;
TIM_InitTypeDef TIM_InitStructure;
 
248,7 → 248,7
TIM_CounterCmd(TIM2, TIM_START); // start the timer
UART1_PutString("ok\r\n");
*/
*/
}
 
void TIMER2_Deinit(void)
283,4 → 283,4
GPIO_InitStructure.GPIO_Alternate = GPIO_InputAlt1;
GPIO_Init(GPIO6, &GPIO_InitStructure);
}
*/
*/
/trunk/uart1.c
7,7 → 7,7
// + 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
// + 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.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
18,7 → 18,7
// + 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
// + 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.
32,7 → 32,7
// + 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 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
63,8 → 63,7
#include "config.h"
#include "menu.h"
#include "GPS.h"
#include "i2c0.h"
#include "i2c1.h"
#include "i2c.h"
#include "uart0.h"
#include "uart1.h"
#include "uart2.h"
162,7 → 161,7
"16 ",
"17 ",
"18 ",
"19 ", // SD-Card-time
"19 ", // SD-Card-time
"EarthMagnet [%] ", //20
"Ground Speed ", // "Z_Speed ",
"N_Speed ",
248,13 → 247,11
UART_InitStructure.UART_StopBits = UART_StopBits_1;
UART_InitStructure.UART_Parity = UART_Parity_No ;
UART_InitStructure.UART_BaudRate = UART1_BAUD_RATE;
UART_InitStructure.UART_HardwareFlowControl = UART_HardwareFlowControl_None;
UART_InitStructure. UART_HardwareFlowControl = UART_HardwareFlowControl_None;
UART_InitStructure.UART_Mode = UART_Mode_Tx_Rx;
// AVOID_I2C_COLLISION UART_InitStructure.UART_FIFO = UART_FIFO_Disable;
// AVOID_I2C_COLLISION UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_8; // FIFO size 16 bytes, FIFO level 2 bytes
UART_InitStructure.UART_FIFO = UART_FIFO_Enable;
UART_InitStructure.UART_TxFIFOLevel = UART_FIFOLevel_1_2;
UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes
UART_InitStructure.UART_RxFIFOLevel = UART_FIFOLevel_1_2; // FIFO size 16 bytes, FIFO level 8 bytes
 
UART_DeInit(UART1); // reset uart 1 to default
UART_Init(UART1, &UART_InitStructure); // initialize uart 1
277,8 → 274,8
UART_VersionInfo.SWPatch = VERSION_PATCH;
UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR;
UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;
UART_VersionInfo.HWMajor = Version_HW & 0x7f;
UART_VersionInfo.reserved2 = 0;
UART_VersionInfo.HWMajor = Version_HW & 0x7F;
UART_VersionInfo.reserved2 = 0;
UART_VersionInfo.Flags = 0;
NaviData.Version = NAVIDATA_VERSION;
 
416,13 → 413,13
case NC_ADDRESS: // own Slave Address
switch(SerialMsg.CmdID)
{
case 't': // request for the GPS time
case 't': // request for the GPS time
UART1_Request_SystemTime = TRUE;
break;
 
case 'f': // ftp command
UART1_Request_FTP = SerialMsg.pData[0];
//if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE)
//if (UART1_Request_FTP == FTP_CMD_SET_CWD || UART1_Request_FTP == FTP_CMD_GET_FILE)
memcpy(&FTP_data, &SerialMsg.pData[1], sizeof(FTP_data)); // copy ftp parameter
break;
 
499,12 → 496,12
}
else
{ // update WP in list at index
if(pPoint->Index > MaxNumberOfWaypoints)
if(pPoint->Index > MaxNumberOfWaypoints)
{
UART1_Request_WritePoint = 254;
pPoint->Index = MaxNumberOfWaypoints;
}
else
else
UART1_Request_WritePoint = PointList_SetAt(pPoint);
if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE);
if(UART1_Request_WritePoint == pPoint->Index)
655,7 → 652,6
{
u8 tmp_tx;
if(DebugUART != UART1) return;
// AVOID_I2C_COLLISION if(I2C0_State != I2C_STATE_IDLE) return;
// if something has to be send and the txd fifo is not full
if(UART1_tx_buffer.Locked == TRUE)
{
689,70 → 685,71
//http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm
void CreateNmeaGGA(void)
{
unsigned char array[200], i = 0, crc = 0, x;
long tmp1, tmp2;
i += sprintf(array, "$GPGGA,");
// +++++++++++++++++++++++++++++++++++++++++++
if(SystemTime.Valid)
{
i += sprintf(&array[i], "%02d%02d%02d.%02d,",SystemTime.Hour,SystemTime.Min,SystemTime.Sec,SystemTime.mSec/10);
}
else
{
i += sprintf(&array[i], ",");
}
// +++++++++++++++++++++++++++++++++++++++++++
if(GPSData.Flags & FLAG_GPSFIXOK)
{
tmp1 = abs(GPSData.Position.Latitude)/10000000L;
i += sprintf(&array[i],"%02d",(int)tmp1);
u8 array[200], i = 0, crc = 0, x;
s32 tmp1, tmp2;
 
tmp1 = abs(GPSData.Position.Latitude)%10000000L;
tmp1 *= 6; // in Minuten
tmp2 = tmp1 / 1000000L;
i += sprintf(&array[i],"%02d",(int)tmp2);
tmp2 = tmp1 % 1000000L;
tmp2 /= 10; // eine Stelle zu viel
i += sprintf(&array[i],".%05d,",(int)tmp2);
i += sprintf(array, "$GPGGA,");
// +++++++++++++++++++++++++++++++++++++++++++
if(SystemTime.Valid)
{
i += sprintf(&array[i], "%02d%02d%02d.%02d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec/10);
}
else
{
i += sprintf(&array[i], ",");
}
// +++++++++++++++++++++++++++++++++++++++++++
if(GPSData.Flags & FLAG_GPSFIXOK)
{
tmp1 = abs(GPSData.Position.Latitude)/10000000L;
i += sprintf(&array[i],"%02d",(s16)tmp1);
 
if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,");
else i += sprintf(&array[i],"S,");
// +++++++++++++++++++++++++++++++++++++++++++
tmp1 = abs(GPSData.Position.Latitude)%10000000L;
tmp1 *= 6; // in Minuten
tmp2 = tmp1 / 1000000L;
i += sprintf(&array[i],"%02d", (s16)tmp2);
tmp2 = tmp1 % 1000000L;
tmp2 /= 10; // eine Stelle zu viel
i += sprintf(&array[i],".%05d,", (s16)tmp2);
 
tmp1 = abs(GPSData.Position.Longitude)/10000000L;
i += sprintf(&array[i],"%03d",(int)tmp1);
if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,");
else i += sprintf(&array[i],"S,");
// +++++++++++++++++++++++++++++++++++++++++++
 
tmp1 = abs(GPSData.Position.Longitude)%10000000L;
tmp1 *= 6; // in Minuten
tmp2 = tmp1 / 1000000L;
i += sprintf(&array[i],"%02d",(int)tmp2);
tmp2 = tmp1 % 1000000L;
tmp2 /= 10; // eine Stelle zu viel
i += sprintf(&array[i],".%05d,",(int)tmp2);
tmp1 = abs(GPSData.Position.Longitude)/10000000L;
i += sprintf(&array[i],"%03d", (s16)tmp1);
 
tmp1 = abs(GPSData.Position.Longitude)%10000000L;
tmp1 *= 6; // in Minuten
tmp2 = tmp1 / 1000000L;
i += sprintf(&array[i],"%02d", (s16)tmp2);
tmp2 = tmp1 % 1000000L;
tmp2 /= 10; // eine Stelle zu viel
i += sprintf(&array[i],".%05d,", (s16)tmp2);
 
if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,");
else i += sprintf(&array[i],"W,");
i += sprintf(&array[i],"%d,",GPSData.SatFix);
i += sprintf(&array[i],"%d,",GPSData.NumOfSats);
i += sprintf(&array[i],"%d.%d,",GPSData.Position_Accuracy/100,abs(GPSData.Position_Accuracy%100));
// i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100);
tmp1 = NaviData.Altimeter / 2; // in dm
i += sprintf(&array[i],"%d.%d,M,",tmp1 / 10,abs(tmp1 % 10));
i += sprintf(&array[i],",,,*");
}
else
{
i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats);
}
for(x=1; x<i-1; x++)
{
crc ^= array[x];
}
i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a);
AddSerialData(&UART1_tx_buffer,array,i);
 
// +++++++++++++++++++++++++++++++++++++++++++
if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,");
else i += sprintf(&array[i],"W,");
i += sprintf(&array[i],"%d,",GPSData.SatFix);
i += sprintf(&array[i],"%d,",GPSData.NumOfSats);
i += sprintf(&array[i],"%d.%d,",(s16)(GPSData.Position_Accuracy/100),abs(GPSData.Position_Accuracy%100));
// i += sprintf(&array[i],"%d.%d,M,",GPSData.Position.Altitude/1000,abs(GPSData.Position.Altitude%1000)/100);
tmp1 = NaviData.Altimeter / 2; // in dm
i += sprintf(&array[i],"%d.%d,M,",(s16)tmp1 / 10,abs((s16)tmp1 % 10));
i += sprintf(&array[i],",,,*");
}
else
{
i += sprintf(&array[i], ",,,,%d,00,99.99,,,,,,*",GPSData.NumOfSats);
}
for(x = 1; x < i-1; x++)
{
crc ^= array[x];
}
i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a);
AddSerialData(&UART1_tx_buffer,array,i);
 
// +++++++++++++++++++++++++++++++++++++++++++
}
 
//$GPRMC,162614.123,A,5230.5900,N,01322.3900,E,10.0,90.0,131006,1.2,E,A*13
760,145 → 757,145
 
void CreateNmeaRMC(void)
{
unsigned char array[200], i = 0, crc = 0, x;
int tmp_int;
long tmp1, tmp2;
// +++++++++++++++++++++++++++++++++++++++++++
i += sprintf(array, "$GPRMC,");
// +++++++++++++++++++++++++++++++++++++++++++
if(SystemTime.Valid)
{
i += sprintf(&array[i], "%02d%02d%02d.%03d,",SystemTime.Hour,SystemTime.Min,SystemTime.Sec,SystemTime.mSec);
}
else
{
i += sprintf(&array[i], ",");
}
if(GPSData.Flags & FLAG_GPSFIXOK)
{
// +++++++++++++++++++++++++++++++++++++++++++
tmp1 = abs(GPSData.Position.Latitude)/10000000L;
i += sprintf(&array[i],"A,%02d",(int)tmp1); // Status: A = Okay V = Warnung
u8 array[200], i = 0, crc = 0, x;
s16 tmp_int;
s32 tmp1, tmp2;
// +++++++++++++++++++++++++++++++++++++++++++
i += sprintf(array, "$GPRMC,");
// +++++++++++++++++++++++++++++++++++++++++++
if(SystemTime.Valid)
{
i += sprintf(&array[i], "%02d%02d%02d.%03d,", SystemTime.Hour, SystemTime.Min, SystemTime.Sec, SystemTime.mSec);
}
else
{
i += sprintf(&array[i], ",");
}
if(GPSData.Flags & FLAG_GPSFIXOK)
{
// +++++++++++++++++++++++++++++++++++++++++++
tmp1 = abs(GPSData.Position.Latitude)/10000000L;
i += sprintf(&array[i],"A,%02d", (s16)tmp1); // Status: A = Okay V = Warnung
 
tmp1 = abs(GPSData.Position.Latitude)%10000000L;
tmp1 *= 6; // in Minuten
tmp2 = tmp1 / 1000000L;
i += sprintf(&array[i],"%02d",(int)tmp2);
tmp2 = tmp1 % 1000000L;
tmp2 /= 10; // eine Stelle zu viel
i += sprintf(&array[i],".%05d,",(int)tmp2);
if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,");
else i += sprintf(&array[i],"S,");
// +++++++++++++++++++++++++++++++++++++++++++
tmp1 = abs(GPSData.Position.Longitude)/10000000L;
i += sprintf(&array[i],"%03d",(int)tmp1);
tmp1 = abs(GPSData.Position.Latitude)%10000000L;
tmp1 *= 6; // in Minuten
tmp2 = tmp1 / 1000000L;
i += sprintf(&array[i],"%02d", (s16)tmp2);
tmp2 = tmp1 % 1000000L;
tmp2 /= 10; // eine Stelle zu viel
i += sprintf(&array[i],".%05d,", (s16)tmp2);
if(GPSData.Position.Latitude >= 0) i += sprintf(&array[i],"N,");
else i += sprintf(&array[i],"S,");
// +++++++++++++++++++++++++++++++++++++++++++
tmp1 = abs(GPSData.Position.Longitude)/10000000L;
i += sprintf(&array[i],"%03d", (s16)tmp1);
 
tmp1 = abs(GPSData.Position.Longitude)%10000000L;
tmp1 *= 6; // in Minuten
tmp2 = tmp1 / 1000000L;
i += sprintf(&array[i],"%02d",(int)tmp2);
tmp2 = tmp1 % 1000000L;
tmp2 /= 10; // eine Stelle zu viel
i += sprintf(&array[i],".%05d,",(int)tmp2);
if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,");
else i += sprintf(&array[i],"W,");
// +++++++++++++++++++++++++++++++++++++++++++
tmp_int = GPSData.Speed_Ground; // in cm/sek
tmp_int *= 90;
tmp_int /= 463;
i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten
// +++++++++++++++++++++++++++++++++++++++++++
i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10);
// +++++++++++++++++++++++++++++++++++++++++++
if(SystemTime.Valid)
{
i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year);
}
else
{
i += sprintf(&array[i], ",");
}
// +++++++++++++++++++++++++++++++++++++++++++
i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10);
if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,");
// +++++++++++++++++++++++++++++++++++++++++++
if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D,");
else i += sprintf(&array[i], "A,");
}
else // kein Satfix
{
i += sprintf(&array[i], "V,,,,,,,,,,N*");
}
// +++++++++++++++++++++++++++++++++++++++++++
// CRC
// +++++++++++++++++++++++++++++++++++++++++++
for(x=1; x<i-1; x++)
{
crc ^= array[x];
}
i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a);
// +++++++++++++++++++++++++++++++++++++++++++
AddSerialData(&UART1_tx_buffer,array,i);
// +++++++++++++++++++++++++++++++++++++++++++
/*
tmp1 = abs(GPSData.Position.Longitude)%10000000L;
tmp1 *= 6; // in Minuten
tmp2 = tmp1 / 1000000L;
i += sprintf(&array[i],"%02d", (s16)tmp2);
tmp2 = tmp1 % 1000000L;
tmp2 /= 10; // eine Stelle zu viel
i += sprintf(&array[i],".%05d,", (s16)tmp2);
if(GPSData.Position.Longitude >= 0) i += sprintf(&array[i],"E,");
else i += sprintf(&array[i],"W,");
// +++++++++++++++++++++++++++++++++++++++++++
tmp_int = GPSData.Speed_Ground; // in cm/sek
tmp_int *= 90;
tmp_int /= 463;
i += sprintf(&array[i],"%02d.%d,",tmp_int/10,tmp_int%10); // in Knoten
// +++++++++++++++++++++++++++++++++++++++++++
i += sprintf(&array[i],"%03d.%d,",GyroCompassCorrected/10,GyroCompassCorrected%10);
// +++++++++++++++++++++++++++++++++++++++++++
if(SystemTime.Valid)
{
i += sprintf(&array[i], "%02d%02d%02d,",SystemTime.Day,SystemTime.Month,SystemTime.Year);
}
else
{
i += sprintf(&array[i], ",");
}
// +++++++++++++++++++++++++++++++++++++++++++
i += sprintf(&array[i],"%d.%1d,", abs(GeoMagDec)/10,abs(GeoMagDec)%10);
if(GeoMagDec < 0) i += sprintf(&array[i], "W,"); else i += sprintf(&array[i], "E,");
// +++++++++++++++++++++++++++++++++++++++++++
if(GPSData.Flags & FLAG_DIFFSOLN) i += sprintf(&array[i], "D,");
else i += sprintf(&array[i], "A,");
}
else // kein Satfix
{
i += sprintf(&array[i], "V,,,,,,,,,,N*");
}
// +++++++++++++++++++++++++++++++++++++++++++
// CRC
// +++++++++++++++++++++++++++++++++++++++++++
for(x=1; x<i-1; x++)
{
crc ^= array[x];
}
i += sprintf(&array[i], "%02x%c%c",crc,0x0d,0x0a);
// +++++++++++++++++++++++++++++++++++++++++++
AddSerialData(&UART1_tx_buffer,array,i);
// +++++++++++++++++++++++++++++++++++++++++++
/*
 
GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits
GPSData.NumOfSats = UbxSol.numSV;
GPSData.SatFix = UbxSol.GPSfix;
GPSData.Position_Accuracy = UbxSol.PAcc;
GPSData.Speed_Accuracy = UbxSol.SAcc;
SetGPSTime(&SystemTime); // update system time
// NAV POSLLH
GPSData.Position.Status = INVALID;
GPSData.Position.Longitude = UbxPosLlh.LON;
GPSData.Position.Latitude = UbxPosLlh.LAT;
GPSData.Position.Altitude = UbxPosLlh.HMSL;
GPSData.Position.Status = NEWDATA;
// NAV VELNED
GPSData.Speed_East = UbxVelNed.VEL_E;
GPSData.Speed_North = UbxVelNed.VEL_N;
GPSData.Speed_Top = -UbxVelNed.VEL_D;
GPSData.Speed_Ground = UbxVelNed.GSpeed;
GPSData.Heading = UbxVelNed.Heading;
SystemTime.Year = 0;
SystemTime.Month = 0;
SystemTime.Day = 0;
SystemTime.Hour = 0;
SystemTime.Min = 0;
SystemTime.Sec = 0;
SystemTime.mSec = 0;
SystemTime.Valid = 0;
FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2;
if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S
else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S
i1 = abs(GPSData.Position.Latitude)/10000000L;
i2 = abs(GPSData.Position.Latitude)%10000000L;
 
 
GPSData.Flags = (GPSData.Flags & 0xf0) | (UbxSol.Flags & 0x0f); // we take only the lower bits
GPSData.NumOfSats = UbxSol.numSV;
GPSData.SatFix = UbxSol.GPSfix;
GPSData.Position_Accuracy = UbxSol.PAcc;
GPSData.Speed_Accuracy = UbxSol.SAcc;
SetGPSTime(&SystemTime); // update system time
// NAV POSLLH
GPSData.Position.Status = INVALID;
GPSData.Position.Longitude = UbxPosLlh.LON;
GPSData.Position.Latitude = UbxPosLlh.LAT;
GPSData.Position.Altitude = UbxPosLlh.HMSL;
GPSData.Position.Status = NEWDATA;
// NAV VELNED
GPSData.Speed_East = UbxVelNed.VEL_E;
GPSData.Speed_North = UbxVelNed.VEL_N;
GPSData.Speed_Top = -UbxVelNed.VEL_D;
GPSData.Speed_Ground = UbxVelNed.GSpeed;
GPSData.Heading = UbxVelNed.Heading;
SystemTime.Year = 0;
SystemTime.Month = 0;
SystemTime.Day = 0;
SystemTime.Hour = 0;
SystemTime.Min = 0;
SystemTime.Sec = 0;
SystemTime.mSec = 0;
SystemTime.Valid = 0;
 
if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;}
i1 *= 100;
i1 += i2 / 100000;
i2 = i2 % 100000;
i2 /= 10;
ToFlightCtrl.Param.Byte[6] = i1 % 256;
ToFlightCtrl.Param.Byte[7] = i1 / 256;
ToFlightCtrl.Param.Byte[8] = i2 % 256;
ToFlightCtrl.Param.Byte[9] = i2 / 256;
break;
case 1:
ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID;
ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden
ToFlightCtrl.Param.Byte[1] = 8-1; // how many
//-----------------------------
if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E
else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S
i1 = abs(GPSData.Position.Longitude)/10000000L;
i2 = abs(GPSData.Position.Longitude)%10000000L;
FromFlightCtrl.GyroHeading / 10;//NaviData.HomePositionDeviation.Bearing / 2;
if(GPSData.Position.Latitude < 0) ToFlightCtrl.Param.Byte[5] = 1; // 1 = S
else ToFlightCtrl.Param.Byte[5] = 0; // 1 = S
i1 = abs(GPSData.Position.Latitude)/10000000L;
i2 = abs(GPSData.Position.Latitude)%10000000L;
 
 
 
if(!(NCFlags & NC_FLAG_GPS_OK)) {i1 = 0; i2 = 0;}
i1 *= 100;
i1 += i2 / 100000;
i2 = i2 % 100000;
i2 /= 10;
ToFlightCtrl.Param.Byte[6] = i1 % 256;
ToFlightCtrl.Param.Byte[7] = i1 / 256;
ToFlightCtrl.Param.Byte[8] = i2 % 256;
ToFlightCtrl.Param.Byte[9] = i2 / 256;
break;
case 1:
ToFlightCtrl.Param.Byte[11] = HOTT_GPS_PACKET_ID;
ToFlightCtrl.Param.Byte[0] = 11+3; // index +3, weil bei HoTT V4 3 Bytes eingeschoben wurden
ToFlightCtrl.Param.Byte[1] = 8-1; // how many
//-----------------------------
if(GPSData.Position.Longitude < 0) ToFlightCtrl.Param.Byte[2] = 1; // 1 = E
else ToFlightCtrl.Param.Byte[2] = 0; // 1 = S
i1 = abs(GPSData.Position.Longitude)/10000000L;
i2 = abs(GPSData.Position.Longitude)%10000000L;
 
*/
}
 
943,7 → 940,7
else if (!Partition.IsValid) errorcode = FTP_ERROR_NO_SDCARD;
 
if (!errorcode) CheckFTPCommand(UART1_Request_FTP);
else
else
{
u8 cmd = FTP_CMD_ERROR;
MKProtocol_CreateSerialFrame(&UART1_tx_buffer, 'F', NC_ADDRESS, 2, &cmd, 1, &errorcode, 1);