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| Rev 532 | Rev 533 | ||
|---|---|---|---|
| Line 103... | Line 103... | ||
| 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; |
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| Line 108... | Line 109... | ||
| 108 | 109 | ||
| 109 | //---------------------------------------------------------------------------------------------------- |
110 | //---------------------------------------------------------------------------------------------------- |
| 110 | void SCU_Config(void) |
111 | void SCU_Config(void) |
| 111 | { |
112 | { |
| Line 335... | Line 336... | ||
| 335 | sprintf(ErrorMSG,"Magnet error "); |
336 | sprintf(ErrorMSG,"Magnet error "); |
| 336 | newErrorCode = 22; |
337 | newErrorCode = 22; |
| 337 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
338 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
| 338 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
339 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
| 339 | } |
340 | } |
| 340 | else if(((ErrorCheck_BL_MinOfMaxPWM == 40 || ErrorCheck_BL_MinOfMaxPWM == 39) && (FC.StatusFlags & FC_STATUS_FLY)) && !ErrorCode) |
341 | else if(((ErrorCheck_BL_MinOfMaxPWM == 40 && (TimeSinceMotorStart > 3)) || (ErrorCheck_BL_MinOfMaxPWM == 39)) && !ErrorCode) |
| 341 | { |
342 | { |
| 342 | LED_RED_ON; |
343 | LED_RED_ON; |
| 343 | sprintf(ErrorMSG,"ERR:Motor restart "); |
344 | sprintf(ErrorMSG,"ERR:Motor restart "); |
| 344 | newErrorCode = 23; |
345 | newErrorCode = 23; |
| 345 | DebugOut.StatusRed |= AMPEL_BL; |
346 | DebugOut.StatusRed |= AMPEL_BL; |
| Line 351... | Line 352... | ||
| 351 | LED_RED_ON; |
352 | LED_RED_ON; |
| 352 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
353 | sprintf(ErrorMSG,"ERR:BL%2d Test:%2d ",i+1,BL_MinOfMaxPWM); |
| 353 | newErrorCode = 32; |
354 | newErrorCode = 32; |
| 354 | DebugOut.StatusRed |= AMPEL_BL; |
355 | DebugOut.StatusRed |= AMPEL_BL; |
| 355 | } |
356 | } |
| 356 | else if(ErrorCheck_BL_MinOfMaxPWM < 248 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
357 | else if(ErrorCheck_BL_MinOfMaxPWM < 248 && (TimeSinceMotorStart > 3) && !ErrorCode) |
| 357 | { |
358 | { |
| 358 | LED_RED_ON; |
359 | LED_RED_ON; |
| 359 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
360 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
| 360 | newErrorCode = 24; |
361 | newErrorCode = 24; |
| 361 | DebugOut.StatusRed |= AMPEL_BL; |
362 | DebugOut.StatusRed |= AMPEL_BL; |
| Line 444... | Line 445... | ||
| 444 | UART0_TransmitTxData(); // GPS send answer |
445 | UART0_TransmitTxData(); // GPS send answer |
| 445 | UART1_ProcessRxData(); // PC process request |
446 | UART1_ProcessRxData(); // PC process request |
| 446 | UART1_TransmitTxData(); // PC send answer |
447 | UART1_TransmitTxData(); // PC send answer |
| 447 | UART2_TransmitTxData(); // FC send answer |
448 | UART2_TransmitTxData(); // FC send answer |
| Line -... | Line 449... | ||
| - | 449 | ||
| - | 450 | if(!(FC.StatusFlags & FC_STATUS_MOTOR_RUN)) TimeSinceMotorStart = 0; |
|
| 448 | 451 | ||
| 449 | // ---------------- Error Check Timing ---------------------------- |
452 | // ---------------- Error Check Timing ---------------------------- |
| 450 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
453 | if(CheckDelay(TimerCheckError) || (FC.StatusFlags & FC_STATUS_START && !(oldFcFlags & FC_STATUS_START))) // Timer or FY wants to start |
| 451 | { |
454 | { |
| 452 | if(CheckDelay(TimerCheckError)) |
455 | if(CheckDelay(TimerCheckError)) |
| Line 465... | Line 468... | ||
| 465 | oldFcFlags = FC.StatusFlags; |
468 | oldFcFlags = FC.StatusFlags; |
| 466 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
469 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
| Line 467... | Line 470... | ||
| 467 | 470 | ||
| Line -... | Line 471... | ||
| - | 471 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
|
| - | 472 | ||
| 468 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
473 | if(FC.StatusFlags & FC_STATUS_FLY) |
| - | 474 | { |
|
| - | 475 | NaviData.FlyingTime++; // we want to count the battery-time |
|
| - | 476 | TimeSinceMotorStart++; |
|
| 469 | 477 | } |
|
| 470 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
478 | |
| 471 | if(SerialLinkOkay) SerialLinkOkay--; |
479 | if(SerialLinkOkay) SerialLinkOkay--; |
| 472 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
480 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
| 473 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
481 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |