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| 1 | /*#######################################################################################*/ |
1 | /*#######################################################################################*/ |
| 2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
| 3 | /*#######################################################################################*/ |
3 | /*#######################################################################################*/ |
| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 5 | // + www.MikroKopter.com |
5 | // + www.MikroKopter.com |
| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 7 | // + Software Nutzungsbedingungen (english version: see below) |
7 | // + Software Nutzungsbedingungen (english version: see below) |
| 8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| 9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| 10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| 11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| 12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| 15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| 16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| 17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| 18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| 19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| 20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| 21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| 22 | // + des Mitverschuldens offen. |
22 | // + des Mitverschuldens offen. |
| 23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| 24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| 25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| 26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| 27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| 28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| 29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| 30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 32 | // + Software LICENSING TERMS |
32 | // + Software LICENSING TERMS |
| 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| 35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| 36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| 37 | // + The Software may only be used with the Licensor's products. |
37 | // + The Software may only be used with the Licensor's products. |
| 38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| 39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| 40 | // + agreement shall be the property of the Licensor. |
40 | // + agreement shall be the property of the Licensor. |
| 41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| 42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
| 43 | // + The customer shall be responsible for taking reasonable precautions |
43 | // + The customer shall be responsible for taking reasonable precautions |
| 44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| 45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| 46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| 47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| 48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| 49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| 50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| 51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| 52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| 53 | // + #### END OF LICENSING TERMS #### |
53 | // + #### END OF LICENSING TERMS #### |
| 54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 56 | //#define MCLK96MHZ |
56 | //#define MCLK96MHZ |
| 57 | const unsigned long _Main_Crystal = 25000; |
57 | const unsigned long _Main_Crystal = 25000; |
| 58 | //#include <stdio.h> |
58 | //#include <stdio.h> |
| 59 | #include "91x_lib.h" |
59 | #include "91x_lib.h" |
| 60 | #include "led.h" |
60 | #include "led.h" |
| 61 | #include "uart0.h" |
61 | #include "uart0.h" |
| 62 | #include "uart1.h" |
62 | #include "uart1.h" |
| 63 | #include "uart2.h" |
63 | #include "uart2.h" |
| 64 | #include "gps.h" |
64 | #include "gps.h" |
| 65 | #include "i2c.h" |
65 | #include "i2c.h" |
| 66 | #include "compass.h" |
66 | #include "compass.h" |
| 67 | #include "ncmag.h" |
67 | #include "ncmag.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 "sdc.h" |
73 | #include "sdc.h" |
| 74 | #include "logging.h" |
74 | #include "logging.h" |
| 75 | #include "params.h" |
75 | #include "params.h" |
| 76 | #include "settings.h" |
76 | #include "settings.h" |
| 77 | #include "config.h" |
77 | #include "config.h" |
| 78 | #include "main.h" |
78 | #include "main.h" |
| 79 | #include "debug.h" |
79 | #include "debug.h" |
| 80 | #include "eeprom.h" |
80 | #include "eeprom.h" |
| 81 | #include "ssc.h" |
81 | #include "ssc.h" |
| 82 | #include "sdc.h" |
82 | #include "sdc.h" |
| 83 | #include "uart1.h" |
83 | #include "uart1.h" |
| 84 | 84 | ||
| 85 | 85 | ||
| 86 | #ifdef FOLLOW_ME |
86 | #ifdef FOLLOW_ME |
| 87 | u8 TransmitAlsoToFC = 0; |
87 | u8 TransmitAlsoToFC = 0; |
| 88 | #endif |
88 | #endif |
| 89 | u32 TimerCheckError; |
89 | u32 TimerCheckError; |
| 90 | u8 ErrorCode = 0; |
90 | u8 ErrorCode = 0; |
| 91 | u16 BeepTime; |
91 | u16 BeepTime; |
| 92 | u8 NCFlags = 0; |
92 | u8 NCFlags = 0; |
| 93 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
93 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
| 94 | u8 ErrorGpsFixLost = 0; |
94 | u8 ErrorGpsFixLost = 0; |
| 95 | u8 FromFC_LoadWP_List = 0, FromFC_Load_SinglePoint = 0, FromFC_Save_SinglePoint = 0; |
95 | u8 FromFC_LoadWP_List = 0, FromFC_Load_SinglePoint = 0, FromFC_Save_SinglePoint = 0; |
| 96 | u8 ToFC_MaxWpListIndex = 4; |
96 | u8 ToFC_MaxWpListIndex = 4; |
| 97 | u8 ClearFCStatusFlags = 0; |
97 | u8 ClearFCStatusFlags = 0; |
| 98 | u8 StopNavigation = 0; |
98 | u8 StopNavigation = 0; |
| 99 | volatile u32 PollingTimeout = 10000; |
99 | volatile u32 PollingTimeout = 10000; |
| 100 | Param_t Parameter; |
100 | Param_t Parameter; |
| 101 | volatile FC_t FC; |
101 | volatile FC_t FC; |
| 102 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
102 | volatile u32 SPIWatchDog = 15000; // stop Navigation if this goes to zero |
| 103 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
103 | volatile u32 SD_WatchDog = 15000; // stop Logging if this goes to zero |
| 104 | u32 CountGpsProcessedIn5Sec = 0,CountNewGpsDataIn5Sec = 0, FreqGpsProcessedIn5Sec = 0, FreqNewGpsDataIn5Sec = 0; |
104 | u32 CountGpsProcessedIn5Sec = 0,CountNewGpsDataIn5Sec = 0, FreqGpsProcessedIn5Sec = 0, FreqNewGpsDataIn5Sec = 0; |
| 105 | u8 NewWPL_Name = 0; |
105 | u8 NewWPL_Name = 0; |
| 106 | u32 MaxWP_Radius_in_m = 0; |
106 | u32 MaxWP_Radius_in_m = 0; |
| 107 | s8 ErrorMSG[25]; |
107 | s8 ErrorMSG[25]; |
| 108 | u32 TimeSinceMotorStart = 0; |
108 | u32 TimeSinceMotorStart = 0; |
| 109 | 109 | ||
| 110 | //---------------------------------------------------------------------------------------------------- |
110 | //---------------------------------------------------------------------------------------------------- |
| 111 | void SCU_Config(void) |
111 | void SCU_Config(void) |
| 112 | { |
112 | { |
| 113 | /* configure PLL and set it as master clock source */ |
113 | /* configure PLL and set it as master clock source */ |
| 114 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
114 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
| 115 | SCU_PLLCmd(DISABLE); // now disable the PLL |
115 | SCU_PLLCmd(DISABLE); // now disable the PLL |
| 116 | #ifdef MCLK96MHZ |
116 | #ifdef MCLK96MHZ |
| 117 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
117 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
| 118 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
118 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
| 119 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
119 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
| 120 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
120 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
| 121 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
121 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
| 122 | #else |
122 | #else |
| 123 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
123 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
| 124 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
124 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
| 125 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
125 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
| 126 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
126 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
| 127 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
127 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
| 128 | #endif |
128 | #endif |
| 129 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
129 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
| 130 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
130 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
| 131 | } |
131 | } |
| 132 | 132 | ||
| 133 | //---------------------------------------------------------------------------------------------------- |
133 | //---------------------------------------------------------------------------------------------------- |
| 134 | void GetNaviCtrlVersion(void) |
134 | void GetNaviCtrlVersion(void) |
| 135 | { |
135 | { |
| 136 | u8 msg[25]; |
136 | u8 msg[25]; |
| 137 | 137 | ||
| 138 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%02d%c", UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
138 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%02d%c", UART_VersionInfo.HWMajor/10, UART_VersionInfo.HWMajor%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
| 139 | UART1_PutString(msg); |
139 | UART1_PutString(msg); |
| 140 | } |
140 | } |
| 141 | 141 | ||
| 142 | //---------------------------------------------------------------------------------------------------- |
142 | //---------------------------------------------------------------------------------------------------- |
| 143 | 143 | ||
| 144 | void CheckErrors(void) |
144 | void CheckErrors(void) |
| 145 | { |
145 | { |
| 146 | static s32 no_error_delay = 0; |
146 | static s32 no_error_delay = 0; |
| 147 | s32 newErrorCode = 0; |
147 | s32 newErrorCode = 0; |
| 148 | UART_VersionInfo.HardwareError[0] = 0; |
148 | UART_VersionInfo.HardwareError[0] = 0; |
| 149 | 149 | ||
| 150 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
150 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
| 151 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
151 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
| 152 | 152 | ||
| 153 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
153 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
| 154 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
154 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
| 155 | 155 | ||
| 156 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
156 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
| 157 | else DebugOut.StatusRed &= ~AMPEL_NC; |
157 | else DebugOut.StatusRed &= ~AMPEL_NC; |
| 158 | 158 | ||
| 159 | 159 | ||
| 160 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
160 | if(CheckDelay(I2CBus(Compass_I2CPort)->Timeout)) |
| 161 | { |
161 | { |
| 162 | LED_RED_ON; |
162 | LED_RED_ON; |
| 163 | sprintf(ErrorMSG,"no compass communica"); |
163 | sprintf(ErrorMSG,"no compass communica"); |
| 164 | //Reset Compass communication |
164 | //Reset Compass communication |
| 165 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
165 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
| 166 | Compass_Init(); |
166 | Compass_Init(); |
| 167 | newErrorCode = 4; |
167 | newErrorCode = 4; |
| 168 | StopNavigation = 1; |
168 | StopNavigation = 1; |
| 169 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
169 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
| 170 | DebugOut.StatusRed |= AMPEL_COMPASS; |
170 | DebugOut.StatusRed |= AMPEL_COMPASS; |
| 171 | } |
171 | } |
| 172 | else if(CompassValueErrorCount > 30) |
172 | else if(CompassValueErrorCount > 30) |
| 173 | { |
173 | { |
| 174 | LED_RED_ON; |
174 | LED_RED_ON; |
| 175 | sprintf(ErrorMSG,"compass sensor error"); |
175 | sprintf(ErrorMSG,"compass sensor error"); |
| 176 | newErrorCode = 34; |
176 | newErrorCode = 34; |
| 177 | StopNavigation = 1; |
177 | StopNavigation = 1; |
| 178 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
178 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
| 179 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
179 | if(Compass_I2CPort == NCMAG_PORT_EXTERN) I2CBus_Init(I2C0); else I2CBus_Init(I2C1); |
| 180 | Compass_Init(); |
180 | Compass_Init(); |
| 181 | } |
181 | } |
| 182 | else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
182 | else if((FCCalibActive || CompassCalState) && FC_Version.Hardware) |
| 183 | { |
183 | { |
| 184 | sprintf(ErrorMSG,"Calibrate... "); |
184 | sprintf(ErrorMSG,"Calibrate... "); |
| 185 | newErrorCode = 0; |
185 | newErrorCode = 0; |
| 186 | ErrorCode = 0; |
186 | ErrorCode = 0; |
| 187 | no_error_delay = 1; |
187 | no_error_delay = 1; |
| 188 | } |
188 | } |
| 189 | else if(CheckDelay(SPI0_Timeout)) |
189 | else if(CheckDelay(SPI0_Timeout)) |
| 190 | { |
190 | { |
| 191 | LED_RED_ON; |
191 | LED_RED_ON; |
| 192 | sprintf(ErrorMSG,"no FC communication "); |
192 | sprintf(ErrorMSG,"no FC communication "); |
| 193 | newErrorCode = 3; |
193 | newErrorCode = 3; |
| 194 | StopNavigation = 1; |
194 | StopNavigation = 1; |
| 195 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
195 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
| 196 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
196 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
| 197 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
197 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
| 198 | } |
198 | } |
| 199 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
199 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
| 200 | { |
200 | { |
| 201 | LED_RED_ON; |
201 | LED_RED_ON; |
| 202 | #ifndef FOLLOW_ME |
202 | #ifndef FOLLOW_ME |
| 203 | sprintf(ErrorMSG,"FC not compatible "); |
203 | sprintf(ErrorMSG,"FC not compatible "); |
| 204 | #else |
204 | #else |
| 205 | sprintf(ErrorMSG,"! FollowMe only ! "); |
205 | sprintf(ErrorMSG,"! FollowMe only ! "); |
| 206 | #endif |
206 | #endif |
| 207 | newErrorCode = 1; |
207 | newErrorCode = 1; |
| 208 | StopNavigation = 1; |
208 | StopNavigation = 1; |
| 209 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
209 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
| 210 | DebugOut.StatusRed |= AMPEL_NC; |
210 | DebugOut.StatusRed |= AMPEL_NC; |
| 211 | } |
211 | } |
| 212 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
212 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
| 213 | { |
213 | { |
| 214 | LED_RED_ON; |
214 | LED_RED_ON; |
| 215 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
215 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
| 216 | newErrorCode = 10; |
216 | newErrorCode = 10; |
| 217 | } |
217 | } |
| 218 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
218 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
| 219 | { |
219 | { |
| 220 | LED_RED_ON; |
220 | LED_RED_ON; |
| 221 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
221 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
| 222 | newErrorCode = 11; |
222 | newErrorCode = 11; |
| 223 | } |
223 | } |
| 224 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
224 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
| 225 | { |
225 | { |
| 226 | LED_RED_ON; |
226 | LED_RED_ON; |
| 227 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
227 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
| 228 | newErrorCode = 12; |
228 | newErrorCode = 12; |
| 229 | } |
229 | } |
| 230 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
230 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
| 231 | { |
231 | { |
| 232 | LED_RED_ON; |
232 | LED_RED_ON; |
| 233 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
233 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
| 234 | newErrorCode = 13; |
234 | newErrorCode = 13; |
| 235 | } |
235 | } |
| 236 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
236 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
| 237 | { |
237 | { |
| 238 | LED_RED_ON; |
238 | LED_RED_ON; |
| 239 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
239 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
| 240 | newErrorCode = 14; |
240 | newErrorCode = 14; |
| 241 | } |
241 | } |
| 242 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
242 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
| 243 | { |
243 | { |
| 244 | LED_RED_ON; |
244 | LED_RED_ON; |
| 245 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
245 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
| 246 | newErrorCode = 15; |
246 | newErrorCode = 15; |
| 247 | } |
247 | } |
| 248 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
248 | else if(NC_To_FC_Flags & NC_TO_FC_FLYING_RANGE) |
| 249 | { |
249 | { |
| 250 | LED_RED_ON; |
250 | LED_RED_ON; |
| 251 | sprintf(ErrorMSG,"ERR:Flying range!"); |
251 | sprintf(ErrorMSG,"ERR:Flying range!"); |
| 252 | newErrorCode = 28; |
252 | newErrorCode = 28; |
| 253 | } |
253 | } |
| 254 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
254 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
| 255 | { |
255 | { |
| 256 | LED_RED_ON; |
256 | LED_RED_ON; |
| 257 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
257 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
| 258 | newErrorCode = 16; |
258 | newErrorCode = 16; |
| 259 | } |
259 | } |
| 260 | else if(FC.Error[1] & FC_ERROR1_I2C) |
260 | else if(FC.Error[1] & FC_ERROR1_I2C) |
| 261 | { |
261 | { |
| 262 | LED_RED_ON; |
262 | LED_RED_ON; |
| 263 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
263 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
| 264 | newErrorCode = 17; |
264 | newErrorCode = 17; |
| 265 | } |
265 | } |
| 266 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
266 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
| 267 | { |
267 | { |
| 268 | LED_RED_ON; |
268 | LED_RED_ON; |
| 269 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
269 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
| 270 | newErrorCode = 18; |
270 | newErrorCode = 18; |
| 271 | } |
271 | } |
| 272 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
272 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
| 273 | { |
273 | { |
| 274 | LED_RED_ON; |
274 | LED_RED_ON; |
| 275 | sprintf(ErrorMSG,"Mixer Error"); |
275 | sprintf(ErrorMSG,"Mixer Error"); |
| 276 | newErrorCode = 19; |
276 | newErrorCode = 19; |
| 277 | } |
277 | } |
| 278 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
278 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
| 279 | { |
279 | { |
| 280 | LED_RED_ON; |
280 | LED_RED_ON; |
| 281 | sprintf(ErrorMSG,"no GPS communication"); |
281 | sprintf(ErrorMSG,"no GPS communication"); |
| 282 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
282 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
| 283 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
283 | UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_GPS_PRESENT; |
| 284 | newErrorCode = 5; |
284 | newErrorCode = 5; |
| 285 | StopNavigation = 1; |
285 | StopNavigation = 1; |
| 286 | //UBX_Setup(); |
286 | //UBX_Setup(); |
| 287 | //UBX_Timeout = SetDelay(500); |
287 | //UBX_Timeout = SetDelay(500); |
| 288 | } |
288 | } |
| 289 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
289 | else if(Compass_Heading < 0 && NCMAG_Present && !NCMAG_IsCalibrated) |
| 290 | { |
290 | { |
| 291 | LED_RED_ON; |
291 | LED_RED_ON; |
| 292 | sprintf(ErrorMSG,"compass not calibr."); |
292 | sprintf(ErrorMSG,"compass not calibr."); |
| 293 | newErrorCode = 31; |
293 | newErrorCode = 31; |
| 294 | StopNavigation = 1; |
294 | StopNavigation = 1; |
| 295 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
295 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
| 296 | } |
296 | } |
| 297 | else if(Compass_Heading < 0) |
297 | else if(Compass_Heading < 0) |
| 298 | { |
298 | { |
| 299 | LED_RED_ON; |
299 | LED_RED_ON; |
| 300 | sprintf(ErrorMSG,"bad compass value "); |
300 | sprintf(ErrorMSG,"bad compass value "); |
| 301 | newErrorCode = 6; |
301 | newErrorCode = 6; |
| 302 | StopNavigation = 1; |
302 | StopNavigation = 1; |
| 303 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
303 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
| 304 | } |
304 | } |
| 305 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
305 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
| 306 | { |
306 | { |
| 307 | LED_RED_ON; |
307 | LED_RED_ON; |
| 308 | sprintf(ErrorMSG,"FC spi rx error "); |
308 | sprintf(ErrorMSG,"FC spi rx error "); |
| 309 | newErrorCode = 8; |
309 | newErrorCode = 8; |
| 310 | StopNavigation = 1; |
310 | StopNavigation = 1; |
| 311 | } |
311 | } |
| 312 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
312 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
| 313 | { |
313 | { |
| 314 | LED_RED_ON; |
314 | LED_RED_ON; |
| 315 | sprintf(ErrorMSG,"FC: Carefree Error"); |
315 | sprintf(ErrorMSG,"FC: Carefree Error"); |
| 316 | newErrorCode = 20; |
316 | newErrorCode = 20; |
| 317 | } |
317 | } |
| 318 | else if(FC.Error[1] & FC_ERROR1_PPM) |
318 | else if(FC.Error[1] & FC_ERROR1_PPM) |
| 319 | { |
319 | { |
| 320 | LED_RED_ON; |
320 | LED_RED_ON; |
| 321 | sprintf(ErrorMSG,"RC Signal lost "); |
321 | sprintf(ErrorMSG,"RC Signal lost "); |
| 322 | newErrorCode = 7; |
322 | newErrorCode = 7; |
| 323 | } |
323 | } |
| 324 | else if(ErrorGpsFixLost) |
324 | else if(ErrorGpsFixLost) |
| 325 | { |
325 | { |
| 326 | LED_RED_ON; |
326 | LED_RED_ON; |
| 327 | sprintf(ErrorMSG,"GPS Fix lost "); |
327 | sprintf(ErrorMSG,"GPS Fix lost "); |
| 328 | newErrorCode = 21; |
328 | newErrorCode = 21; |
| 329 | } |
329 | } |
| 330 | else if(ErrorDisturbedEarthMagnetField) |
330 | else if(ErrorDisturbedEarthMagnetField) |
| 331 | { |
331 | { |
| 332 | LED_RED_ON; |
332 | LED_RED_ON; |
| 333 | sprintf(ErrorMSG,"Magnet error "); |
333 | sprintf(ErrorMSG,"Magnet error "); |
| 334 | newErrorCode = 22; |
334 | newErrorCode = 22; |
| 335 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
335 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
| 336 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
336 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
| 337 | } |
337 | } |
| 338 | else if(((ErrorCheck_BL_MinOfMaxPWM == 40 && (TimeSinceMotorStart > 3)) || (ErrorCheck_BL_MinOfMaxPWM == 39)) && !ErrorCode) |
338 | else if(((ErrorCheck_BL_MinOfMaxPWM == 40 && (TimeSinceMotorStart > 3)) || (ErrorCheck_BL_MinOfMaxPWM == 39)) && !ErrorCode) |
| 339 | { |
339 | { |
| 340 | LED_RED_ON; |
340 | LED_RED_ON; |
| 341 | sprintf(ErrorMSG,"ERR:Motor restart "); |
341 | sprintf(ErrorMSG,"ERR:Motor restart "); |
| 342 | newErrorCode = 23; |
342 | newErrorCode = 23; |
| 343 | DebugOut.StatusRed |= AMPEL_BL; |
343 | DebugOut.StatusRed |= AMPEL_BL; |
| 344 | } |
344 | } |
| 345 | else if(BL_MinOfMaxPWM < 30 && !ErrorCode) |
345 | else if(BL_MinOfMaxPWM < 30 && !ErrorCode) |
| 346 | { |
346 | { |
| 347 | u16 i; |
347 | u16 i; |
| 348 | for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; |
348 | for(i = 0; i < 12; i++) if(Motor[i].MaxPWM == BL_MinOfMaxPWM) break; |
| 349 | LED_RED_ON; |
349 | LED_RED_ON; |
| 350 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
350 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
| 351 | newErrorCode = 32; |
351 | newErrorCode = 32; |
| 352 | DebugOut.StatusRed |= AMPEL_BL; |
352 | DebugOut.StatusRed |= AMPEL_BL; |
| 353 | } |
353 | } |
| 354 | else if(ErrorCheck_BL_MinOfMaxPWM < 248 && (TimeSinceMotorStart > 3) && !ErrorCode) |
354 | else if(ErrorCheck_BL_MinOfMaxPWM < 248 && (TimeSinceMotorStart > 3) && !ErrorCode) |
| 355 | { |
355 | { |
| 356 | LED_RED_ON; |
356 | LED_RED_ON; |
| 357 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
357 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
| 358 | newErrorCode = 24; |
358 | newErrorCode = 24; |
| 359 | DebugOut.StatusRed |= AMPEL_BL; |
359 | DebugOut.StatusRed |= AMPEL_BL; |
| 360 | } |
360 | } |
| 361 | else if((NCFlags & NC_FLAG_RANGE_LIMIT) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
361 | else if((NCFlags & NC_FLAG_RANGE_LIMIT) && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
| 362 | { |
362 | { |
| 363 | LED_RED_ON; |
363 | LED_RED_ON; |
| 364 | sprintf(ErrorMSG,"ERR:GPS WP range "); |
364 | sprintf(ErrorMSG,"ERR:GPS WP range "); |
| 365 | newErrorCode = 25; |
365 | newErrorCode = 25; |
| 366 | DebugOut.StatusRed |= AMPEL_NC; |
366 | DebugOut.StatusRed |= AMPEL_NC; |
| 367 | } |
367 | } |
| 368 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
368 | else if((!SD_SWITCH || (SDCardInfo.Valid == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START && !(FC.StatusFlags & FC_STATUS_FLY)) |
| 369 | { |
369 | { |
| 370 | LED_RED_ON; |
370 | LED_RED_ON; |
| 371 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
371 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
| 372 | newErrorCode = 26; |
372 | newErrorCode = 26; |
| 373 | DebugOut.StatusRed |= AMPEL_NC; |
373 | DebugOut.StatusRed |= AMPEL_NC; |
| 374 | } |
374 | } |
| 375 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
375 | else if((SD_LoggingError || (SD_WatchDog < 2000 && SD_WatchDog != 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
| 376 | { |
376 | { |
| 377 | LED_RED_ON; |
377 | LED_RED_ON; |
| 378 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
378 | sprintf(ErrorMSG,"ERR:SD Logging abort"); |
| 379 | newErrorCode = 27; |
379 | newErrorCode = 27; |
| 380 | DebugOut.StatusRed |= AMPEL_NC; |
380 | DebugOut.StatusRed |= AMPEL_NC; |
| 381 | SD_LoggingError = 0; |
381 | SD_LoggingError = 0; |
| 382 | } |
382 | } |
| 383 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
383 | else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY)) |
| 384 | { |
384 | { |
| 385 | LED_RED_ON; |
385 | LED_RED_ON; |
| 386 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
386 | sprintf(ErrorMSG,"ERR:Max Altitude "); |
| 387 | newErrorCode = 29; |
387 | newErrorCode = 29; |
| 388 | DebugOut.StatusRed |= AMPEL_NC; |
388 | DebugOut.StatusRed |= AMPEL_NC; |
| 389 | } |
389 | } |
| 390 | 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))) |
390 | 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))) |
| 391 | { |
391 | { |
| 392 | LED_RED_ON; |
392 | LED_RED_ON; |
| 393 | sprintf(ErrorMSG,"No GPS Fix "); |
393 | sprintf(ErrorMSG,"No GPS Fix "); |
| 394 | newErrorCode = 30; |
394 | newErrorCode = 30; |
| 395 | } |
395 | } |
| - | 396 | else if(NC_GPS_ModeCharacter == 'F') |
|
| - | 397 | { |
|
| - | 398 | sprintf(ErrorMSG,"FAILSAFE pos.! "); |
|
| - | 399 | newErrorCode = 35; |
|
| - | 400 | } |
|
| - | 401 | else if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_ERROR) |
|
| - | 402 | { |
|
| - | 403 | sprintf(ErrorMSG,"ERR:Redundancy "); |
|
| - | 404 | newErrorCode = 36; |
|
| - | 405 | } |
|
| - | 406 | else if(FC.StatusFlags3 & FC_STATUS3_REDUNDANCE_TEST) |
|
| - | 407 | { |
|
| - | 408 | sprintf(ErrorMSG,"Redundancy test "); |
|
| - | 409 | newErrorCode = 37; |
|
| - | 410 | } |
|
| 396 | else // no error occured |
411 | else // no error occured |
| 397 | { |
412 | { |
| 398 | StopNavigation = 0; |
413 | StopNavigation = 0; |
| 399 | LED_RED_OFF; |
414 | LED_RED_OFF; |
| 400 | if(no_error_delay) { no_error_delay--; } |
415 | if(no_error_delay) { no_error_delay--; } |
| 401 | else |
416 | else |
| 402 | { |
417 | { |
| 403 | sprintf(ErrorMSG,"No Error "); |
418 | sprintf(ErrorMSG,"No Error "); |
| 404 | ErrorCode = 0; |
419 | ErrorCode = 0; |
| 405 | } |
420 | } |
| 406 | } |
421 | } |
| 407 | 422 | ||
| 408 | if(newErrorCode) |
423 | if(newErrorCode) |
| 409 | { |
424 | { |
| 410 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
425 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
| 411 | ErrorCode = newErrorCode; |
426 | ErrorCode = newErrorCode; |
| 412 | } |
427 | } |
| 413 | FC.Error[0] = 0; |
428 | FC.Error[0] = 0; |
| 414 | FC.Error[1] = 0; |
429 | FC.Error[1] = 0; |
| 415 | FC.Error[2] = 0; |
430 | FC.Error[2] = 0; |
| 416 | FC.Error[3] = 0; |
431 | FC.Error[3] = 0; |
| 417 | FC.Error[4] = 0; |
432 | FC.Error[4] = 0; |
| 418 | ErrorGpsFixLost = 0; |
433 | ErrorGpsFixLost = 0; |
| 419 | ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
434 | ErrorCheck_BL_MinOfMaxPWM = BL_MinOfMaxPWM; |
| 420 | } |
435 | } |
| 421 | 436 | ||
| 422 | 437 | ||
| 423 | 438 | ||
| 424 | u8 Polling(void) |
439 | u8 Polling(void) |
| 425 | { |
440 | { |
| 426 | static u8 running = 0, oldFcFlags = 0, count5sec, TimeoutGPS_Process; |
441 | static u8 running = 0, oldFcFlags = 0, count5sec, TimeoutGPS_Process; |
| 427 | static u32 old_ms = 0; |
442 | static u32 old_ms = 0; |
| 428 | 443 | ||
| 429 | if(running) {/*DebugOut.Analog[]++;*/ return(1);}; |
444 | if(running) {/*DebugOut.Analog[]++;*/ return(1);}; |
| 430 | running = 1; |
445 | running = 1; |
| 431 | 446 | ||
| 432 | if(CountMilliseconds != old_ms) // 1 ms |
447 | if(CountMilliseconds != old_ms) // 1 ms |
| 433 | { |
448 | { |
| 434 | old_ms = CountMilliseconds; |
449 | old_ms = CountMilliseconds; |
| 435 | Compass_Update(); // update compass communication |
450 | Compass_Update(); // update compass communication |
| 436 | Analog_Update(); // get new ADC values |
451 | Analog_Update(); // get new ADC values |
| 437 | CalcHeadFree(); |
452 | CalcHeadFree(); |
| 438 | if(!CheckDelay(SPI0_Timeout)) TimeoutGPS_Process = 0; |
453 | if(!CheckDelay(SPI0_Timeout)) TimeoutGPS_Process = 0; |
| 439 | else if(CountMilliseconds - SPI0_Timeout > 30000000L) SPI0_Timeout = CountMilliseconds; // avoid too long overflows |
454 | else if(CountMilliseconds - SPI0_Timeout > 30000000L) SPI0_Timeout = CountMilliseconds; // avoid too long overflows |
| 440 | if(++TimeoutGPS_Process >= 25) |
455 | if(++TimeoutGPS_Process >= 25) |
| 441 | { |
456 | { |
| 442 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
457 | GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
| 443 | TimeoutGPS_Process = 0; |
458 | TimeoutGPS_Process = 0; |
| 444 | } |
459 | } |
| 445 | } |
460 | } |
| 446 | 461 | ||
| 447 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
462 | SPI0_UpdateBuffer(); // also calls the GPS-functions |
| 448 | UART0_ProcessRxData(); // GPS process request |
463 | UART0_ProcessRxData(); // GPS process request |
| 449 | UART0_TransmitTxData(); // GPS send answer |
464 | UART0_TransmitTxData(); // GPS send answer |
| 450 | UART1_ProcessRxData(); // PC process request |
465 | UART1_ProcessRxData(); // PC process request |
| 451 | UART1_TransmitTxData(); // PC send answer |
466 | UART1_TransmitTxData(); // PC send answer |
| 452 | UART2_TransmitTxData(); // FC send answer |
467 | UART2_TransmitTxData(); // FC send answer |
| 453 | 468 | ||
| 454 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) TimeSinceMotorStart = 0; |
469 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) TimeSinceMotorStart = 0; |
| 455 | 470 | ||
| 456 | // ---------------- Error Check Timing ---------------------------- |
471 | // ---------------- Error Check Timing ---------------------------- |
| 457 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
472 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
| 458 | { |
473 | { |
| 459 | if(CheckDelay(TimerCheckError)) |
474 | if(CheckDelay(TimerCheckError)) |
| 460 | { |
475 | { |
| 461 | TimerCheckError = SetDelay(1000); |
476 | TimerCheckError = SetDelay(1000); |
| 462 | if(CompassValueErrorCount) CompassValueErrorCount--; |
477 | if(CompassValueErrorCount) CompassValueErrorCount--; |
| 463 | if(++count5sec == 5) |
478 | if(++count5sec == 5) |
| 464 | { |
479 | { |
| 465 | count5sec = 0; |
480 | count5sec = 0; |
| 466 | FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2; |
481 | FreqGpsProcessedIn5Sec = CountGpsProcessedIn5Sec * 2; |
| 467 | FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2; |
482 | FreqNewGpsDataIn5Sec = CountNewGpsDataIn5Sec * 2; |
| 468 | CountGpsProcessedIn5Sec = 0; |
483 | CountGpsProcessedIn5Sec = 0; |
| 469 | CountNewGpsDataIn5Sec = 0; |
484 | CountNewGpsDataIn5Sec = 0; |
| 470 | } |
485 | } |
| 471 | } |
486 | } |
| 472 | oldFcFlags = FC.StatusFlags; |
487 | oldFcFlags = FC.StatusFlags; |
| 473 | // if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
488 | // if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
| 474 | 489 | ||
| 475 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
490 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
| 476 | 491 | ||
| 477 | if(FC.StatusFlags & FC_STATUS_FLY) |
492 | if(FC.StatusFlags & FC_STATUS_FLY) |
| 478 | { |
493 | { |
| 479 | NaviData.FlyingTime++; // we want to count the battery-time |
494 | NaviData.FlyingTime++; // we want to count the battery-time |
| 480 | TimeSinceMotorStart++; |
495 | TimeSinceMotorStart++; |
| 481 | } |
496 | } |
| 482 | 497 | ||
| 483 | if(SerialLinkOkay) SerialLinkOkay--; |
498 | if(SerialLinkOkay) SerialLinkOkay--; |
| 484 | if(SerialLinkOkay < 250 - 6) NCFlags |= NC_FLAG_NOSERIALLINK; // 6 seconds timeout for serial communication |
499 | if(SerialLinkOkay < 250 - 6) NCFlags |= NC_FLAG_NOSERIALLINK; // 6 seconds timeout for serial communication |
| 485 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
500 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
| 486 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
501 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
| 487 | } |
502 | } |
| 488 | running = 0; |
503 | running = 0; |
| 489 | // if(!PollingTimeout) DebugOut.Analog[17]++; |
504 | // if(!PollingTimeout) DebugOut.Analog[17]++; |
| 490 | return(0); |
505 | return(0); |
| 491 | } |
506 | } |
| 492 | 507 | ||
| 493 | // the handler will be cyclic called by the timer 1 ISR |
508 | // the handler will be cyclic called by the timer 1 ISR |
| 494 | // used is for critical timing parts that normaly would handled |
509 | // used is for critical timing parts that normaly would handled |
| 495 | // within the main loop that could block longer at logging activities |
510 | // within the main loop that could block longer at logging activities |
| 496 | void EXTIT3_IRQHandler(void) // 1ms - Takt |
511 | void EXTIT3_IRQHandler(void) // 1ms - Takt |
| 497 | { |
512 | { |
| 498 | IENABLE; |
513 | IENABLE; |
| 499 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
514 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
| 500 | 515 | ||
| 501 | if(PollingTimeout == 0) |
516 | if(PollingTimeout == 0) |
| 502 | { |
517 | { |
| 503 | PollingTimeout = 5; |
518 | PollingTimeout = 5; |
| 504 | //if(Polling() == 0) DebugOut.Analog[]++; |
519 | //if(Polling() == 0) DebugOut.Analog[]++; |
| 505 | Polling(); |
520 | Polling(); |
| 506 | } |
521 | } |
| 507 | 522 | ||
| 508 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
523 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
| 509 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
524 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
| 510 | IDISABLE; |
525 | IDISABLE; |
| 511 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
526 | VIC1->VAR = 0xFF; // write any value to VIC0 Vector address register |
| 512 | } |
527 | } |
| 513 | 528 | ||
| 514 | //---------------------------------------------------------------------------------------------------- |
529 | //---------------------------------------------------------------------------------------------------- |
| 515 | int main(void) |
530 | int main(void) |
| 516 | { |
531 | { |
| 517 | 532 | ||
| 518 | // static u32 ftimer =0; |
533 | // static u32 ftimer =0; |
| 519 | // static u8 fstate = 0; |
534 | // static u8 fstate = 0; |
| 520 | // static File_t* f = NULL; |
535 | // static File_t* f = NULL; |
| 521 | 536 | ||
| 522 | 537 | ||
| 523 | /* Configure the system clocks */ |
538 | /* Configure the system clocks */ |
| 524 | SCU_Config(); |
539 | SCU_Config(); |
| 525 | /* init VIC (Vectored Interrupt Controller) */ |
540 | /* init VIC (Vectored Interrupt Controller) */ |
| 526 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
541 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
| 527 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
542 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
| 528 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
543 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
| 529 | VIC_InitDefaultVectors(); |
544 | VIC_InitDefaultVectors(); |
| 530 | 545 | ||
| 531 | // initialize timer 1 for System Clock and delay rountines |
546 | // initialize timer 1 for System Clock and delay rountines |
| 532 | TIMER1_Init(); |
547 | TIMER1_Init(); |
| 533 | // initialize the LEDs (needs Timer 1) |
548 | // initialize the LEDs (needs Timer 1) |
| 534 | Led_Init(); |
549 | Led_Init(); |
| 535 | // initialize the debug UART1 |
550 | // initialize the debug UART1 |
| 536 | UART1_Init(); |
551 | UART1_Init(); |
| 537 | UART1_PutString("\r\n---------------------------------------------"); |
552 | UART1_PutString("\r\n---------------------------------------------"); |
| 538 | // initialize timer 2 for servo outputs |
553 | // initialize timer 2 for servo outputs |
| 539 | //TIMER2_Init(); |
554 | //TIMER2_Init(); |
| 540 | // initialize UART2 to FLIGHTCTRL |
555 | // initialize UART2 to FLIGHTCTRL |
| 541 | UART2_Init(); |
556 | UART2_Init(); |
| 542 | // initialize UART0 (to MKGPS or MK3MAG) |
557 | // initialize UART0 (to MKGPS or MK3MAG) |
| 543 | UART0_Init(); |
558 | UART0_Init(); |
| 544 | // initialize adc |
559 | // initialize adc |
| 545 | Analog_Init(); |
560 | Analog_Init(); |
| 546 | // initialize SPI0 to FC |
561 | // initialize SPI0 to FC |
| 547 | SPI0_Init(); |
562 | SPI0_Init(); |
| 548 | // initialize i2c busses (needs Timer 1) |
563 | // initialize i2c busses (needs Timer 1) |
| 549 | I2CBus_Init(I2C0); |
564 | I2CBus_Init(I2C0); |
| 550 | I2CBus_Init(I2C1); |
565 | I2CBus_Init(I2C1); |
| 551 | // initialize fat16 partition on sd card (needs Timer 1) |
566 | // initialize fat16 partition on sd card (needs Timer 1) |
| 552 | Fat16_Init(); |
567 | Fat16_Init(); |
| 553 | // initialize NC params |
568 | // initialize NC params |
| 554 | NCParams_Init(); |
569 | NCParams_Init(); |
| 555 | // initialize the settings |
570 | // initialize the settings |
| 556 | Settings_Init(); |
571 | Settings_Init(); |
| 557 | // initialize logging (needs settings) |
572 | // initialize logging (needs settings) |
| 558 | Logging_Init(); |
573 | Logging_Init(); |
| 559 | 574 | ||
| 560 | LED_GRN_ON; |
575 | LED_GRN_ON; |
| 561 | TimerCheckError = SetDelay(3000); |
576 | TimerCheckError = SetDelay(3000); |
| 562 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
577 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
| 563 | UART1_PutString("\n\r Version information:"); |
578 | UART1_PutString("\n\r Version information:"); |
| 564 | 579 | ||
| 565 | GetNaviCtrlVersion(); |
580 | GetNaviCtrlVersion(); |
| 566 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
581 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
| 567 | DebugOut.StatusRed = 0x00; |
582 | DebugOut.StatusRed = 0x00; |
| 568 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
583 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
| 569 | 584 | ||
| 570 | Compass_Init(); |
585 | Compass_Init(); |
| 571 | 586 | ||
| 572 | UBX_Setup(); // inits the GPS-Module via ubx |
587 | UBX_Setup(); // inits the GPS-Module via ubx |
| 573 | GPS_Init(); |
588 | GPS_Init(); |
| 574 | 589 | ||
| 575 | #ifdef FOLLOW_ME |
590 | #ifdef FOLLOW_ME |
| 576 | TransmitAlsoToFC = 1; |
591 | TransmitAlsoToFC = 1; |
| 577 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
592 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
| 578 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
593 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
| 579 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
594 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
| 580 | TransmitAlsoToFC = 0; |
595 | TransmitAlsoToFC = 0; |
| 581 | #else |
596 | #else |
| 582 | SPI0_GetFlightCtrlVersion(); |
597 | SPI0_GetFlightCtrlVersion(); |
| 583 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
598 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
| 584 | { |
599 | { |
| 585 | UART1_PutString("\n\r Flight-Ctrl not compatible\n\r"); |
600 | UART1_PutString("\n\r Flight-Ctrl not compatible\n\r"); |
| 586 | LED_RED_ON; |
601 | LED_RED_ON; |
| 587 | } |
602 | } |
| 588 | #endif |
603 | #endif |
| 589 | 604 | ||
| 590 | // ---------- Prepare the isr driven |
605 | // ---------- Prepare the isr driven |
| 591 | // set to absolute lowest priority |
606 | // set to absolute lowest priority |
| 592 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
607 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
| 593 | // enable interrupts |
608 | // enable interrupts |
| 594 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
609 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
| 595 | 610 | ||
| 596 | Debug_OK("START"); |
611 | Debug_OK("START"); |
| 597 | UART1_PutString("\r\n"); |
612 | UART1_PutString("\r\n"); |
| 598 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
613 | fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer |
| 599 | LED_GRN_ON; |
614 | LED_GRN_ON; |
| 600 | LED_RED_OFF; |
615 | LED_RED_OFF; |
| 601 | Settings_GetParamValue(PID_SEND_NMEA,(u16 *) &NMEA_Interval); |
616 | Settings_GetParamValue(PID_SEND_NMEA,(u16 *) &NMEA_Interval); |
| 602 | UART1_PutString("\r\n"); |
617 | UART1_PutString("\r\n"); |
| 603 | 618 | ||
| 604 | CompassValueErrorCount = 0; |
619 | CompassValueErrorCount = 0; |
| 605 | I2CBus(Compass_I2CPort)->Timeout = SetDelay(3000); |
620 | I2CBus(Compass_I2CPort)->Timeout = SetDelay(3000); |
| 606 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
621 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
| 607 | for (;;) // the endless main loop |
622 | for (;;) // the endless main loop |
| 608 | { |
623 | { |
| 609 | PollingTimeout = 5; |
624 | PollingTimeout = 5; |
| 610 | Polling(); |
625 | Polling(); |
| 611 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
626 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
| 612 | if(FromFC_LoadWP_List) |
627 | if(FromFC_LoadWP_List) |
| 613 | { |
628 | { |
| 614 | WPL_Store.Index = (FromFC_LoadWP_List & ~0x80); |
629 | WPL_Store.Index = (FromFC_LoadWP_List & ~0x80); |
| 615 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
630 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
| 616 | { |
631 | { |
| 617 | if(PointList_ReadFromFile(&WPL_Store) == WPL_OK) |
632 | if(PointList_ReadFromFile(&WPL_Store) == WPL_OK) |
| 618 | { |
633 | { |
| 619 | if(FromFC_LoadWP_List & 0x80)// -> load relative |
634 | if(FromFC_LoadWP_List & 0x80)// -> load relative |
| 620 | { |
635 | { |
| 621 | u32 angle; |
636 | u32 angle; |
| 622 | angle = (360 + GyroCompassCorrected/10 + Parameter.OrientationAngle * 15) % 360; |
637 | angle = (360 + GyroCompassCorrected/10 + Parameter.OrientationAngle * 15) % 360; |
| 623 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10) |
638 | if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10) |
| 624 | { // take actual position |
639 | { // take actual position |
| 625 | if(!PointList_Move(1,&(GPSData.Position),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
640 | if(!PointList_Move(1,&(GPSData.Position),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
| 626 | } |
641 | } |
| 627 | else |
642 | else |
| 628 | { // take last target position |
643 | { // take last target position |
| 629 | if(!PointList_Move(1, &(NaviData.TargetPosition),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
644 | if(!PointList_Move(1, &(NaviData.TargetPosition),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
| 630 | } |
645 | } |
| 631 | } |
646 | } |
| 632 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
647 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
| 633 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
648 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
| 634 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
649 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
| 635 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
650 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
| 636 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
651 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
| 637 | BeepTime = 150; |
652 | BeepTime = 150; |
| 638 | } |
653 | } |
| 639 | } |
654 | } |
| 640 | FromFC_LoadWP_List = 0; |
655 | FromFC_LoadWP_List = 0; |
| 641 | } |
656 | } |
| 642 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
657 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
| 643 | if(FromFC_Save_SinglePoint) |
658 | if(FromFC_Save_SinglePoint) |
| 644 | { |
659 | { |
| 645 | WPL_Store.Index = FromFC_Save_SinglePoint; |
660 | WPL_Store.Index = FromFC_Save_SinglePoint; |
| 646 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) if(PointList_SaveSinglePoint(&WPL_Store) == WPL_OK) BeepTime = 150; |
661 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) if(PointList_SaveSinglePoint(&WPL_Store) == WPL_OK) BeepTime = 150; |
| 647 | FromFC_Save_SinglePoint = 0; |
662 | FromFC_Save_SinglePoint = 0; |
| 648 | } |
663 | } |
| 649 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
664 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
| 650 | if(FromFC_Load_SinglePoint) |
665 | if(FromFC_Load_SinglePoint) |
| 651 | { |
666 | { |
| 652 | WPL_Store.Index = FromFC_Load_SinglePoint; |
667 | WPL_Store.Index = FromFC_Load_SinglePoint; |
| 653 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
668 | if(WPL_Store.Index <= ToFC_MaxWpListIndex) |
| 654 | { |
669 | { |
| 655 | if(PointList_LoadSinglePoint(&WPL_Store) == WPL_OK) |
670 | if(PointList_LoadSinglePoint(&WPL_Store) == WPL_OK) |
| 656 | { |
671 | { |
| 657 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
672 | if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
| 658 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
673 | GPS_pWaypoint = PointList_WPBegin(); // updates POI index |
| 659 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
674 | SpeakWaypointRached = 1; // Speak once when the last Point is reached |
| 660 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
675 | SpeakNextWaypoint = 1; // Speak once as soon as the Points are active |
| 661 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
676 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
| 662 | BeepTime = 150; |
677 | BeepTime = 150; |
| 663 | } |
678 | } |
| 664 | } |
679 | } |
| 665 | FromFC_Load_SinglePoint = 0; |
680 | FromFC_Load_SinglePoint = 0; |
| 666 | } |
681 | } |
| 667 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
682 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
| 668 | // ---------------- Logging --------------------------------------- |
683 | // ---------------- Logging --------------------------------------- |
| 669 | if(SD_WatchDog) |
684 | if(SD_WatchDog) |
| 670 | { |
685 | { |
| 671 | SD_WatchDog = 30000; |
686 | SD_WatchDog = 30000; |
| 672 | 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 |
687 | 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 |
| 673 | else |
688 | else |
| 674 | { |
689 | { |
| 675 | ToFC_MaxWpListIndex = 0; |
690 | ToFC_MaxWpListIndex = 0; |
| 676 | if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
691 | if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100; |
| 677 | } |
692 | } |
| 678 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
693 | if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r"); |
| 679 | } |
694 | } |
| 680 | 695 | ||
| 681 | /* |
696 | /* |
| 682 | if(CheckDelay(ftimer)) |
697 | if(CheckDelay(ftimer)) |
| 683 | { |
698 | { |
| 684 | 699 | ||
| 685 | static s8 filename[35]; |
700 | static s8 filename[35]; |
| 686 | static u8 i = 0; |
701 | static u8 i = 0; |
| 687 | s8 dbgmsg[40]; |
702 | s8 dbgmsg[40]; |
| 688 | 703 | ||
| 689 | 704 | ||
| 690 | 705 | ||
| 691 | ftimer = SetDelay(100); |
706 | ftimer = SetDelay(100); |
| 692 | if(FC.Poti[3]>100 && fstate == 0) |
707 | if(FC.Poti[3]>100 && fstate == 0) |
| 693 | { |
708 | { |
| 694 | fstate = 1; |
709 | fstate = 1; |
| 695 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
710 | sprintf(filename, "/toast/toasta/toast%02i.txt",i++); |
| 696 | } |
711 | } |
| 697 | else if(FC.Poti[3]<100 && fstate == 2) |
712 | else if(FC.Poti[3]<100 && fstate == 2) |
| 698 | { |
713 | { |
| 699 | fstate = 3; |
714 | fstate = 3; |
| 700 | } |
715 | } |
| 701 | 716 | ||
| 702 | switch(fstate) |
717 | switch(fstate) |
| 703 | { |
718 | { |
| 704 | case 1: |
719 | case 1: |
| 705 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
720 | sprintf(dbgmsg,"\r\nStart writing file: %s", filename); |
| 706 | Debug(dbgmsg); |
721 | Debug(dbgmsg); |
| 707 | f = fopen_(filename, 'a'); |
722 | f = fopen_(filename, 'a'); |
| 708 | if(f== NULL) Fat16_Init(); |
723 | if(f== NULL) Fat16_Init(); |
| 709 | fstate = 2; |
724 | fstate = 2; |
| 710 | break; |
725 | break; |
| 711 | 726 | ||
| 712 | case 2: |
727 | case 2: |
| 713 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
728 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
| 714 | break; |
729 | break; |
| 715 | 730 | ||
| 716 | case 3: |
731 | case 3: |
| 717 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
732 | sprintf(dbgmsg,"\r\nClosing file: %s", filename); |
| 718 | Debug(dbgmsg); |
733 | Debug(dbgmsg); |
| 719 | fclose_(f); |
734 | fclose_(f); |
| 720 | fstate = 0; |
735 | fstate = 0; |
| 721 | break; |
736 | break; |
| 722 | 737 | ||
| 723 | default: |
738 | default: |
| 724 | break; |
739 | break; |
| 725 | } |
740 | } |
| 726 | } |
741 | } |
| 727 | */ |
742 | */ |
| 728 | } |
743 | } |
| 729 | } |
744 | } |
| 730 | //DebugOut.Analog[] |
745 | //DebugOut.Analog[] |
| 731 | 746 | ||