WebSVN - NaviCtrl - Diff - Rev 228 and 229


/*#######################################################################################*/
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
/*#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) 2008 Ingo Busker, Holger Buss
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
// + FOR NON COMMERCIAL USE ONLY
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
// + eindeutig als Ursprung verlinkt werden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:
// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// +     from this software without specific prior written permission.
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
// +     for non-commercial use (directly or indirectly)
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// +     with our written permission
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// +     clearly linked as origin
// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
//
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// +  POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//#define MCLK96MHZ
const unsigned long _Main_Crystal = 25000;
#include <stdio.h>
#include "91x_lib.h"
#include "led.h"
#include "uart0.h"
#include "uart1.h"
#include "uart2.h"
#include "gps.h"
#include "i2c.h"
#include "timer1.h"
#include "timer2.h"
#include "analog.h"
#include "spi_slave.h"
#include "fat16.h"
#include "usb.h"
#include "sdc.h"
#include "logging.h"
#include "params.h"
#include "settings.h"
#include "config.h"
#include "main.h"
 
u8 BoardRelease = 0;
u32 TimerCheckError;
u32 ErrorCode = 0;
u16 BeepTime;
u8  NCFlags = 0;
s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
 
u8 ClearFCFlags = 0;
u8 StopNavigation = 0;
Param_t Parameter;
volatile FC_t FC;
 
s8 ErrorMSG[25];
 
//----------------------------------------------------------------------------------------------------
void SCU_Config(void)
{
        /* configure PLL and set it as master clock source */
        SCU_MCLKSourceConfig(SCU_MCLK_OSC);             // set master clock source to external oscillator clock (25MHz) before diabling the PLL
        SCU_PLLCmd(DISABLE);                                    // now disable the PLL
        #ifdef MCLK96MHZ
        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
        SCU_PCLKDivisorConfig(SCU_PCLK_Div4);   // set PCLK     (APB bus clock) divisor to 4 (half Reference Clock)
        SCU_RCLKDivisorConfig(SCU_RCLK_Div2);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)
        SCU_HCLKDivisorConfig(SCU_HCLK_Div2);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)
        SCU_PLLFactorsConfig(192,25,2);                 // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
        #else
        SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
        SCU_PCLKDivisorConfig(SCU_PCLK_Div2);   // set PCLK     (APB bus clock) divisor to 2 (half Reference Clock)
        SCU_RCLKDivisorConfig(SCU_RCLK_Div1);   // set RCLK     (Reference Clock) divisor to 1 (full PPL clock)
        SCU_HCLKDivisorConfig(SCU_HCLK_Div1);   // set HCLK     (AHB bus clock) divisor to 1 (full Reference Clock)
        SCU_PLLFactorsConfig(192,25,3);                 // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
        #endif
        SCU_PLLCmd(ENABLE);                                     // Enable PLL (is disabled by SCU_PLLFactorsConfig)
        SCU_MCLKSourceConfig(SCU_MCLK_PLL);     // set master clock source to PLL
}
 
//----------------------------------------------------------------------------------------------------
void GetNaviCtrlVersion(void)
{
        u8 msg[25];
 
        sprintf(msg,"\n\r NaviCtrl V%d.%d%c",  VERSION_MAJOR,  VERSION_MINOR, 'a'+ VERSION_PATCH);
        UART1_PutString(msg);
}
 
//----------------------------------------------------------------------------------------------------
void CheckErrors(void)
{
        if(CheckDelay(SPI0_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no FC communication ");
                ErrorCode = 3;
                StopNavigation = 1;
        }
        else if(CheckDelay(I2C1_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no MK3Mag communication ");
                //Reset I2CBus
                I2C1_Deinit();
                I2C1_Init();
                ErrorCode = 4;
                StopNavigation = 1;
        }
        else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC not compatible ");
                ErrorCode = 1;
                StopNavigation = 1;
        }
        else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
        {
                sprintf(ErrorMSG,"MK3Mag not compatible ");
                LED_RED_ON;
                ErrorCode = 2;
                StopNavigation = 1;
        }
        else if(CheckDelay(UBX_Timeout))
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"no GPS communication ");
                ErrorCode = 5;
                StopNavigation = 1;
        }
        else if(I2C_Heading.Heading < 0)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"bad compass value ");
                ErrorCode = 6;
                StopNavigation = 1;
        }
        else if(FC.Flags & FCFLAG_SPI_RX_ERR)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"FC spi rx error ");
                ErrorCode = 8;
                StopNavigation = 1;
        }
        else if(FC.RC_Quality < 100)
        {
                LED_RED_ON;
                sprintf(ErrorMSG,"RC Signal lost ");
                ErrorCode = 7;
        }
        else // no error occured
        {
                sprintf(ErrorMSG,"No Error               ");
                ErrorCode = 0;
                StopNavigation = 0;
                LED_RED_OFF;
        }
}
 
// the handler will be cyclic called by the timer 1 ISR
// used is for critical timing parts that normaly would handled
// within the main loop that could block longer at logging activities
void EXTIT3_IRQHandler(void)
{
        IENABLE;
 
        VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
        VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
        I2C1_UpdateCompass();   // update compass communication
        Analog_Update();                // get new ADC values
        VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
 
        IDISABLE;
}
 
//----------------------------------------------------------------------------------------------------
int main(void)
{
        /* Configure the system clocks */
        SCU_Config();
        /* init VIC (Vectored Interrupt Controller)     */
        SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
        SCU_AHBPeriphReset(__VIC, DISABLE);             // disable reset state for VIC
        VIC_DeInit();                                                   // deinitializes the VIC module registers to their default reset values.
        VIC_InitDefaultVectors();
 
        // initialize timer 1 for System Clock and delay rountines
        TIMER1_Init();
        // initialize the LEDs (needs Timer 1)
        Led_Init();
        // initialize the debug UART1
        UART1_Init();
        UART1_PutString("\r\n---------------------------------------------");
        // initialize timer 2 for servo outputs
        //TIMER2_Init();
        // initialize UART2 to FLIGHTCTRL
        UART2_Init();
        // initialize UART0 (to MKGPS or MK3MAG)
        UART0_Init();
        // initialize adc
        Analog_Init();
        // initialize usb
        //USB_ConfigInit();
        // initialize SPI0 to FC
        SPI0_Init();
        // initialize i2c bus to MK3MAG (needs Timer 1)
        I2C_Heading.Heading = -1;
        I2C1_Init();
        // initialize the gps position controller (needs Timer 1)
        Fat16_Init();
        // initialize NC params
        NCParams_Init();
        // initialize the settings
        Settings_Init();
        // initialize logging (needs settings)
        Logging_Init();
 
        TimerCheckError = SetDelay(3000);
        UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
        UART1_PutString("\n\r Version information:");
 
        GetNaviCtrlVersion();
 
        I2C1_GetMK3MagVersion();
        if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
        {
                UART1_PutString("\n\r MK3Mag not compatible");
                LED_RED_ON;
        }
 
        SPI0_GetFlightCtrlVersion();
        if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
        {
                UART1_PutString("\n\r Flight-Ctrl not compatible");
                LED_RED_ON;
        }
 
        UART0_GetMKOSDVersion();
 
        GPS_Init();
        // initialize fat16 partition on sd card (needs Timer 1)
 
        // ---------- Prepare the isr driven
        // set to absolute lowest priority
    VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
        // enable interrupts
    VIC_ITCmd(EXTIT3_ITLine, ENABLE);
 
        for (;;) // the endless main loop
        {
                UART0_ProcessRxData();  // process request
                UART1_ProcessRxData();  // process request
                USB_ProcessRxData();    // process request
                UART0_TransmitTxData(); // send answer
                UART1_TransmitTxData(); // send answer
                UART2_TransmitTxData(); // send answer
                USB_TransmitTxData();   // send answer
 
                SPI0_UpdateBuffer();    // handle new SPI Data
                // ---------------- Error Check Timing ----------------------------
                if(CheckDelay(TimerCheckError))
                {
                        TimerCheckError = SetDelay(1000);
                        if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
                        CheckErrors();
                        if(FC.Flags & FCFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time
//                      else NaviData.FlyingTime = 0; // not the time per flight
                        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)) BeepTime = 1000;
                }
                // ---------------- Logging  ---------------------------------------
                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
        }
}
 
 
 

Rev 228	Rev 229
1	/#######################################################################################/	1	/#######################################################################################/
2	/* !!! THIS IS NOT FREE SOFTWARE !!! */	2	/* !!! THIS IS NOT FREE SOFTWARE !!! */
3	/#######################################################################################/	3	/#######################################################################################/
4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5	// + Copyright (c) 2008 Ingo Busker, Holger Buss	5	// + Copyright (c) 2008 Ingo Busker, Holger Buss
6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY	6	// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
7	// + FOR NON COMMERCIAL USE ONLY	7	// + FOR NON COMMERCIAL USE ONLY
8	// + www.MikroKopter.com	8	// + www.MikroKopter.com
9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	9	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),	10	// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.	11	// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt	12	// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
13	// + bzgl. der Nutzungsbedingungen aufzunehmen.	13	// + bzgl. der Nutzungsbedingungen aufzunehmen.
14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,	14	// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
15	// + Verkauf von Luftbildaufnahmen, usw.	15	// + Verkauf von Luftbildaufnahmen, usw.
16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	16	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,	17	// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen	18	// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	19	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts	20	// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"	21	// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
22	// + eindeutig als Ursprung verlinkt werden	22	// + eindeutig als Ursprung verlinkt werden
23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	23	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion	24	// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
25	// + Benutzung auf eigene Gefahr	25	// + Benutzung auf eigene Gefahr
26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden	26	// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	27	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur	28	// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
29	// + mit unserer Zustimmung zulässig	29	// + mit unserer Zustimmung zulässig
30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	30	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31	// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:	31	// + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen:
32	// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz	32	// + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz
33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
34	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,	34	// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
35	// + this list of conditions and the following disclaimer.	35	// + this list of conditions and the following disclaimer.
36	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived	36	// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
37	// + from this software without specific prior written permission.	37	// + from this software without specific prior written permission.
38	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted	38	// + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
39	// + for non-commercial use (directly or indirectly)	39	// + for non-commercial use (directly or indirectly)
40	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted	40	// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
41	// + with our written permission	41	// + with our written permission
42	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be	42	// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
43	// + clearly linked as origin	43	// + clearly linked as origin
44	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed	44	// + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
45	//	45	//
46	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"	46	// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
47	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE	47	// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
48	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE	48	// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
49	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE	49	// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
50	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR	50	// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
51	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF	51	// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
52	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS	52	// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
53	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN	53	// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
54	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)	54	// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
55	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE	55	// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
56	// + POSSIBILITY OF SUCH DAMAGE.	56	// + POSSIBILITY OF SUCH DAMAGE.
57	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	57	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
58	//#define MCLK96MHZ	58	//#define MCLK96MHZ
59	const unsigned long _Main_Crystal = 25000;	59	const unsigned long _Main_Crystal = 25000;
60	#include <stdio.h>	60	#include <stdio.h>
61	#include "91x_lib.h"	61	#include "91x_lib.h"
62	#include "led.h"	62	#include "led.h"
63	#include "uart0.h"	63	#include "uart0.h"
64	#include "uart1.h"	64	#include "uart1.h"
65	#include "uart2.h"	65	#include "uart2.h"
66	#include "gps.h"	66	#include "gps.h"
67	#include "i2c.h"	67	#include "i2c.h"
68	#include "timer1.h"	68	#include "timer1.h"
69	#include "timer2.h"	69	#include "timer2.h"
70	#include "analog.h"	70	#include "analog.h"
71	#include "spi_slave.h"	71	#include "spi_slave.h"
72	#include "fat16.h"	72	#include "fat16.h"
73	#include "usb.h"	73	#include "usb.h"
74	#include "sdc.h"	74	#include "sdc.h"
75	#include "logging.h"	75	#include "logging.h"
76	#include "params.h"	76	#include "params.h"
77	#include "settings.h"	77	#include "settings.h"
78	#include "config.h"	78	#include "config.h"
79	#include "main.h"	79	#include "main.h"
80		80
81	u8 BoardRelease = 0;	81	u8 BoardRelease = 0;
82	u32 TimerCheckError;	82	u32 TimerCheckError;
83	u32 ErrorCode = 0;	83	u32 ErrorCode = 0;
84	u16 BeepTime;	84	u16 BeepTime;
85	u8 NCFlags = 0;	85	u8 NCFlags = 0;
86	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg	86	s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg
87		87
88	u8 ClearFCFlags = 0;	88	u8 ClearFCFlags = 0;
89	u8 StopNavigation = 0;	89	u8 StopNavigation = 0;
90	Param_t Parameter;	90	Param_t Parameter;
91	volatile FC_t FC;	91	volatile FC_t FC;
92		92
93	s8 ErrorMSG[25];	93	s8 ErrorMSG[25];
94		94
95	//----------------------------------------------------------------------------------------------------	95	//----------------------------------------------------------------------------------------------------
96	void SCU_Config(void)	96	void SCU_Config(void)
97	{	97	{
98	/* configure PLL and set it as master clock source */	98	/* configure PLL and set it as master clock source */
99	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL	99	SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL
100	SCU_PLLCmd(DISABLE); // now disable the PLL	100	SCU_PLLCmd(DISABLE); // now disable the PLL
101	#ifdef MCLK96MHZ	101	#ifdef MCLK96MHZ
102	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz	102	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz
103	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)	103	SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock)
104	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	104	SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
105	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	105	SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
106	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2	106	SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2
107	#else	107	#else
108	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz	108	SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz
109	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)	109	SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock)
110	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)	110	SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock)
111	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)	111	SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock)
112	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3	112	SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3
113	#endif	113	#endif
114	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)	114	SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig)
115	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL	115	SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL
116	}	116	}
117		117
118	//----------------------------------------------------------------------------------------------------	118	//----------------------------------------------------------------------------------------------------
119	void GetNaviCtrlVersion(void)	119	void GetNaviCtrlVersion(void)
120	{	120	{
121	u8 msg[25];	121	u8 msg[25];
122		122
123	sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);	123	sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH);
124	UART1_PutString(msg);	124	UART1_PutString(msg);
125	}	125	}
126		126
127	//----------------------------------------------------------------------------------------------------	127	//----------------------------------------------------------------------------------------------------
128	void CheckErrors(void)	128	void CheckErrors(void)
129	{	129	{
130	if(CheckDelay(SPI0_Timeout))	130	if(CheckDelay(SPI0_Timeout))
131	{	131	{
132	LED_RED_ON;	132	LED_RED_ON;
133	sprintf(ErrorMSG,"no FC communication ");	133	sprintf(ErrorMSG,"no FC communication ");
134	ErrorCode = 3;	134	ErrorCode = 3;
135	StopNavigation = 1;	135	StopNavigation = 1;
136	}	136	}
137	else if((CheckDelay(I2C1_Timeout)) \|\| (I2C_Heading.Heading == -2))	137	else if(CheckDelay(I2C1_Timeout))
138	{	138	{
139	LED_RED_ON;	139	LED_RED_ON;
140	sprintf(ErrorMSG,"no MK3Mag communication ");	140	sprintf(ErrorMSG,"no MK3Mag communication ");
141	//Reset I2CBus	141	//Reset I2CBus
142	I2C1_Deinit();	142	I2C1_Deinit();
143	I2C1_Init();	143	I2C1_Init();
144	ErrorCode = 4;	144	ErrorCode = 4;
145	StopNavigation = 1;	145	StopNavigation = 1;
146	}	146	}
147	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	147	else if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
148	{	148	{
149	LED_RED_ON;	149	LED_RED_ON;
150	sprintf(ErrorMSG,"FC not compatible ");	150	sprintf(ErrorMSG,"FC not compatible ");
151	ErrorCode = 1;	151	ErrorCode = 1;
152	StopNavigation = 1;	152	StopNavigation = 1;
153	}	153	}
154	else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)	154	else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
155	{	155	{
156	sprintf(ErrorMSG,"MK3Mag not compatible ");	156	sprintf(ErrorMSG,"MK3Mag not compatible ");
157	LED_RED_ON;	157	LED_RED_ON;
158	ErrorCode = 2;	158	ErrorCode = 2;
159	StopNavigation = 1;	159	StopNavigation = 1;
160	}	160	}
161	else if(CheckDelay(UBX_Timeout))	161	else if(CheckDelay(UBX_Timeout))
162	{	162	{
163	LED_RED_ON;	163	LED_RED_ON;
164	sprintf(ErrorMSG,"no GPS communication ");	164	sprintf(ErrorMSG,"no GPS communication ");
165	ErrorCode = 5;	165	ErrorCode = 5;
166	StopNavigation = 1;	166	StopNavigation = 1;
167	}	167	}
168	else if(I2C_Heading.Heading < 0)	168	else if(I2C_Heading.Heading < 0)
169	{	169	{
170	LED_RED_ON;	170	LED_RED_ON;
171	sprintf(ErrorMSG,"bad compass value ");	171	sprintf(ErrorMSG,"bad compass value ");
172	ErrorCode = 6;	172	ErrorCode = 6;
173	StopNavigation = 1;	173	StopNavigation = 1;
174	}	174	}
175	else if(FC.Flags & FCFLAG_SPI_RX_ERR)	175	else if(FC.Flags & FCFLAG_SPI_RX_ERR)
176	{	176	{
177	LED_RED_ON;	177	LED_RED_ON;
178	sprintf(ErrorMSG,"FC spi rx error ");	178	sprintf(ErrorMSG,"FC spi rx error ");
179	ErrorCode = 8;	179	ErrorCode = 8;
180	StopNavigation = 1;	180	StopNavigation = 1;
181	}	181	}
182	else if(FC.RC_Quality < 100)	182	else if(FC.RC_Quality < 100)
183	{	183	{
184	LED_RED_ON;	184	LED_RED_ON;
185	sprintf(ErrorMSG,"RC Signal lost ");	185	sprintf(ErrorMSG,"RC Signal lost ");
186	ErrorCode = 7;	186	ErrorCode = 7;
187	}	187	}
188	else // no error occured	188	else // no error occured
189	{	189	{
190	sprintf(ErrorMSG,"No Error ");	190	sprintf(ErrorMSG,"No Error ");
191	ErrorCode = 0;	191	ErrorCode = 0;
192	StopNavigation = 0;	192	StopNavigation = 0;
193	LED_RED_OFF;	193	LED_RED_OFF;
194	}	194	}
195	}	195	}
196		196
197	// the handler will be cyclic called by the timer 1 ISR	197	// the handler will be cyclic called by the timer 1 ISR
198	// used is for critical timing parts that normaly would handled	198	// used is for critical timing parts that normaly would handled
199	// within the main loop that could block longer at logging activities	199	// within the main loop that could block longer at logging activities
200	void EXTIT3_IRQHandler(void)	200	void EXTIT3_IRQHandler(void)
201	{	201	{
202	IENABLE;	202	IENABLE;
203		203
204	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq	204	VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq
205	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit	205	VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit
206	I2C1_UpdateCompass(); // update compass communication	206	I2C1_UpdateCompass(); // update compass communication
207	Analog_Update(); // get new ADC values	207	Analog_Update(); // get new ADC values
208	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq	208	VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq
209		209
210	IDISABLE;	210	IDISABLE;
211	}	211	}
212		212
213	//----------------------------------------------------------------------------------------------------	213	//----------------------------------------------------------------------------------------------------
214	int main(void)	214	int main(void)
215	{	215	{
216	/* Configure the system clocks */	216	/* Configure the system clocks */
217	SCU_Config();	217	SCU_Config();
218	/* init VIC (Vectored Interrupt Controller) */	218	/* init VIC (Vectored Interrupt Controller) */
219	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC	219	SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC
220	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC	220	SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC
221	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.	221	VIC_DeInit(); // deinitializes the VIC module registers to their default reset values.
222	VIC_InitDefaultVectors();	222	VIC_InitDefaultVectors();
223		223
224	// initialize timer 1 for System Clock and delay rountines	224	// initialize timer 1 for System Clock and delay rountines
225	TIMER1_Init();	225	TIMER1_Init();
226	// initialize the LEDs (needs Timer 1)	226	// initialize the LEDs (needs Timer 1)
227	Led_Init();	227	Led_Init();
228	// initialize the debug UART1	228	// initialize the debug UART1
229	UART1_Init();	229	UART1_Init();
230	UART1_PutString("\r\n---------------------------------------------");	230	UART1_PutString("\r\n---------------------------------------------");
231	// initialize timer 2 for servo outputs	231	// initialize timer 2 for servo outputs
232	//TIMER2_Init();	232	//TIMER2_Init();
233	// initialize UART2 to FLIGHTCTRL	233	// initialize UART2 to FLIGHTCTRL
234	UART2_Init();	234	UART2_Init();
235	// initialize UART0 (to MKGPS or MK3MAG)	235	// initialize UART0 (to MKGPS or MK3MAG)
236	UART0_Init();	236	UART0_Init();
237	// initialize adc	237	// initialize adc
238	Analog_Init();	238	Analog_Init();
239	// initialize usb	239	// initialize usb
240	//USB_ConfigInit();	240	//USB_ConfigInit();
241	// initialize SPI0 to FC	241	// initialize SPI0 to FC
242	SPI0_Init();	242	SPI0_Init();
243	// initialize i2c bus to MK3MAG (needs Timer 1)	243	// initialize i2c bus to MK3MAG (needs Timer 1)
244	I2C_Heading.Heading = -1;	244	I2C_Heading.Heading = -1;
245	I2C1_Init();	245	I2C1_Init();
246	// initialize the gps position controller (needs Timer 1)	246	// initialize the gps position controller (needs Timer 1)
247	Fat16_Init();	247	Fat16_Init();
248	// initialize NC params	248	// initialize NC params
249	NCParams_Init();	249	NCParams_Init();
250	// initialize the settings	250	// initialize the settings
251	Settings_Init();	251	Settings_Init();
252	// initialize logging (needs settings)	252	// initialize logging (needs settings)
253	Logging_Init();	253	Logging_Init();
254		254
255	TimerCheckError = SetDelay(3000);	255	TimerCheckError = SetDelay(3000);
256	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");	256	UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++");
257	UART1_PutString("\n\r Version information:");	257	UART1_PutString("\n\r Version information:");
258		258
259	GetNaviCtrlVersion();	259	GetNaviCtrlVersion();
260		260
261	I2C1_GetMK3MagVersion();	261	I2C1_GetMK3MagVersion();
262	if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)	262	if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE)
263	{	263	{
264	UART1_PutString("\n\r MK3Mag not compatible");	264	UART1_PutString("\n\r MK3Mag not compatible");
265	LED_RED_ON;	265	LED_RED_ON;
266	}	266	}
267		267
268	SPI0_GetFlightCtrlVersion();	268	SPI0_GetFlightCtrlVersion();
269	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)	269	if(FC_Version.Compatible != FC_SPI_COMPATIBLE)
270	{	270	{
271	UART1_PutString("\n\r Flight-Ctrl not compatible");	271	UART1_PutString("\n\r Flight-Ctrl not compatible");
272	LED_RED_ON;	272	LED_RED_ON;
273	}	273	}
274		274
275	UART0_GetMKOSDVersion();	275	UART0_GetMKOSDVersion();
276		276
277	GPS_Init();	277	GPS_Init();
278	// initialize fat16 partition on sd card (needs Timer 1)	278	// initialize fat16 partition on sd card (needs Timer 1)
279		279
280	// ---------- Prepare the isr driven	280	// ---------- Prepare the isr driven
281	// set to absolute lowest priority	281	// set to absolute lowest priority
282	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);	282	VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW);
283	// enable interrupts	283	// enable interrupts
284	VIC_ITCmd(EXTIT3_ITLine, ENABLE);	284	VIC_ITCmd(EXTIT3_ITLine, ENABLE);
285	I2C1_Timeout = SetDelay(1000);	-
286	for (;;) // the endless main loop	285	for (;;) // the endless main loop
287	{	286	{
288	UART0_ProcessRxData(); // process request	287	UART0_ProcessRxData(); // process request
289	UART1_ProcessRxData(); // process request	288	UART1_ProcessRxData(); // process request
290	USB_ProcessRxData(); // process request	289	USB_ProcessRxData(); // process request
291	UART0_TransmitTxData(); // send answer	290	UART0_TransmitTxData(); // send answer
292	UART1_TransmitTxData(); // send answer	291	UART1_TransmitTxData(); // send answer
293	UART2_TransmitTxData(); // send answer	292	UART2_TransmitTxData(); // send answer
294	USB_TransmitTxData(); // send answer	293	USB_TransmitTxData(); // send answer
295		294
296	SPI0_UpdateBuffer(); // handle new SPI Data	295	SPI0_UpdateBuffer(); // handle new SPI Data
297	// ---------------- Error Check Timing ----------------------------	296	// ---------------- Error Check Timing ----------------------------
298	if(CheckDelay(TimerCheckError))	297	if(CheckDelay(TimerCheckError))
299	{	298	{
300	TimerCheckError = SetDelay(1000);	299	TimerCheckError = SetDelay(1000);
301	if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected	300	if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
302	CheckErrors();	301	CheckErrors();
303	if(FC.Flags & FCFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time	302	if(FC.Flags & FCFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time
304	// else NaviData.FlyingTime = 0; // not the time per flight	303	// else NaviData.FlyingTime = 0; // not the time per flight
305	if(SerialLinkOkay) SerialLinkOkay--;	304	if(SerialLinkOkay) SerialLinkOkay--;
306	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication	305	if(SerialLinkOkay < 250 - 5) NCFlags \|= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
307	else NCFlags &= ~NC_FLAG_NOSERIALLINK;	306	else NCFlags &= ~NC_FLAG_NOSERIALLINK;
308	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000;	307	if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000;
309	}	308	}
310	// ---------------- Logging ---------------------------------------	309	// ---------------- Logging ---------------------------------------
311	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	310	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
312	}	311	}
313	}	312	}
314		313
315		314
316		315

Subversion Repositories NaviCtrl

(root)/tags/V0.28i/main.c @ 811 - Rev 228 → 229