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| Rev 92 | Rev 110 | ||
|---|---|---|---|
| Line 114... | Line 114... | ||
| 114 | void GetNaviCtrlVersion(void) |
114 | void GetNaviCtrlVersion(void) |
| 115 | { |
115 | { |
| 116 | u8 msg[25]; |
116 | u8 msg[25]; |
| Line 117... | Line 117... | ||
| 117 | 117 | ||
| 118 | sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
118 | sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
| 119 | SerialPutString(msg); |
119 | UART1_PutString(msg); |
| Line 120... | Line 120... | ||
| 120 | } |
120 | } |
| 121 | 121 | ||
| Line 226... | Line 226... | ||
| 226 | TIMER1_Init(); |
226 | TIMER1_Init(); |
| 227 | // initialize the LEDs (needs Timer 1) |
227 | // initialize the LEDs (needs Timer 1) |
| 228 | Led_Init(); |
228 | Led_Init(); |
| 229 | // initialize the debug UART1 |
229 | // initialize the debug UART1 |
| 230 | UART1_Init(); |
230 | UART1_Init(); |
| 231 | SerialPutString("\r\n---------------------------------------------"); |
231 | UART1_PutString("\r\n---------------------------------------------"); |
| 232 | // initialize UART2 to FLIGHTCTRL |
232 | // initialize UART2 to FLIGHTCTRL |
| 233 | UART2_Init(); |
233 | UART2_Init(); |
| 234 | // initialize UART0 (to MKGPS or MK3MAG) |
234 | // initialize UART0 (to MKGPS or MK3MAG) |
| 235 | UART0_Init(); |
235 | UART0_Init(); |
| 236 | // initialize usb |
236 | // initialize usb |
| Line 248... | Line 248... | ||
| 248 | // initialize logging (needs settings) |
248 | // initialize logging (needs settings) |
| 249 | Logging_Init(); |
249 | Logging_Init(); |
| Line 250... | Line 250... | ||
| 250 | 250 | ||
| 251 | TimerCompassUpdate = SetDelay(5); |
251 | TimerCompassUpdate = SetDelay(5); |
| 252 | TimerCheckError = SetDelay(3000); |
252 | TimerCheckError = SetDelay(3000); |
| 253 | SerialPutString("\r\n---------------------------------------------"); |
253 | UART1_PutString("\r\n---------------------------------------------"); |
| 254 | SerialPutString("\n\r Version information:"); |
254 | UART1_PutString("\n\r Version information:"); |
| 255 | GetNaviCtrlVersion(); |
255 | GetNaviCtrlVersion(); |
| 256 | SPI0_GetFlightCtrlVersion(); |
256 | SPI0_GetFlightCtrlVersion(); |
| 257 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
257 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
| 258 | { |
258 | { |
| 259 | //sprintf(ErrorMSG,"\r\n %d <-> %d", FlightCtrlVersion.NaviCompatible, FC_SPI_COMPATIBLE); |
259 | //sprintf(ErrorMSG,"\r\n %d <-> %d", FlightCtrlVersion.NaviCompatible, FC_SPI_COMPATIBLE); |
| 260 | //SerialPutString(ErrorMSG); |
260 | //UART1_PutString(ErrorMSG); |
| 261 | SerialPutString("\n\r Flight-Ctrl not compatible"); |
261 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
| 262 | LED_RED_ON; |
262 | LED_RED_ON; |
| Line 263... | Line 263... | ||
| 263 | } |
263 | } |
| 264 | 264 | ||
| 265 | I2C1_GetMK3MagVersion(); |
265 | I2C1_GetMK3MagVersion(); |
| 266 | if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
266 | if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
| 267 | { |
267 | { |
| 268 | SerialPutString("\n\r MK3Mag not compatible"); |
268 | UART1_PutString("\n\r MK3Mag not compatible"); |
| Line 269... | Line 269... | ||
| 269 | LED_RED_ON; |
269 | LED_RED_ON; |
| Line 270... | Line 270... | ||
| 270 | } |
270 | } |
| 271 | 271 | ||
| 272 | SerialPutString("\r\n---------------------------------------------\r\n\r\n"); |
272 | UART1_PutString("\r\n---------------------------------------------\r\n\r\n"); |
| 273 | 273 | ||
| Line 274... | Line 274... | ||
| 274 | for (;;) |
274 | for (;;) |
| 275 | { |
275 | { |
| 276 | UART1_ProcessRxData(); // process request |
- | |
| Line 277... | Line 276... | ||
| 277 | UART1_TransmitTxData(); // send answer |
276 | UART1_ProcessRxData(); // process request |
| 278 | 277 | UART1_TransmitTxData(); // send answer |
|
| 279 | SPI0_UpdateBuffer(); |
278 | |
| 280 | UART0_Transmit(); // empty txd buffer |
279 | SPI0_UpdateBuffer(); |
| 281 | UART1_Transmit(); // empty txd buffer |
280 | UART0_Transmit(); // empty txd buffer |
| 282 | 281 | ||
| 283 | // ------------------------- I2C Timing -------------------------------- |
282 | // ------------------------- I2C Timing -------------------------------- |
| 284 | if(I2C_State != I2C_OFF) |
283 | if(I2C_State != I2C_OFF) |
| 285 | { |
284 | { |
| 286 | if (CheckDelay(TimerCompassUpdate)) |
285 | if (CheckDelay(TimerCompassUpdate)) |
| 287 | { |
286 | { |
| 288 | // check for hanging I2C bus |
287 | // check for hanging I2C bus |
| 289 | if(CheckDelay(I2C1_Timeout)) |
288 | if(CheckDelay(I2C1_Timeout)) |
| 290 | { // reset I2C |
289 | { // reset I2C |
| Line 317... | Line 316... | ||
| 317 | if(!CheckSPIOkay) GPS_Navigation(); // process the GPS data even if the FC is not connected |
316 | if(!CheckSPIOkay) GPS_Navigation(); // process the GPS data even if the FC is not connected |
| 318 | CheckErrors(); |
317 | CheckErrors(); |
| 319 | if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
318 | if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
| 320 | // else NaviData.FlyingTime = 0; |
319 | // else NaviData.FlyingTime = 0; |
| 321 | TimerCheckError = SetDelay(1000); |
320 | TimerCheckError = SetDelay(1000); |
| 322 | Request_SendFollowMe = TRUE; |
321 | UART1_Request_SendFollowMe = TRUE; |
| 323 | if(SerialLinkOkay) SerialLinkOkay--; |
322 | if(SerialLinkOkay) SerialLinkOkay--; |
| 324 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
323 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
| 325 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
324 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
| 326 | } |
325 | } |
| 327 | // ---------------- Logging --------------------------------------- |
326 | // ---------------- Logging --------------------------------------- |