WebSVN - NaviCtrl - Diff - Rev 378 and 380

 #include "main.h"
 #include "debug.h"
 #include "eeprom.h"
 #include "ssc.h"
 #include "sdc.h"
+#include "uart1.h"
 #ifdef FOLLOW_ME
 u8 TransmitAlsoToFC = 0;
 #endif
         if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC;
         else DebugOut.StatusRed &= ~AMPEL_NC;
         if(CheckDelay(SPI0_Timeout))
         {
                 LED_RED_ON;
                 sprintf(ErrorMSG,"no FC communication ");
                 newErrorCode = 3;
                 StopNavigation = 1;
                 DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present
                 DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present
                 UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX;
+        }
         else if(CheckDelay(I2C1_Timeout))
+        {
                 LED_RED_ON;
-                sprintf(ErrorMSG,"no compass communication");
+                sprintf(ErrorMSG,"no compass communica");
                 //Reset I2CBus
                 I2C1_Deinit();
                 I2C1_Init();
                 newErrorCode = 4;
                 sprintf(ErrorMSG,"ERR:Flying range!");
                 newErrorCode = 28;
+        }
         else if(FC.Error[0] & FC_ERROR0_PRESSURE)
+        {
                 LED_RED_ON;
                 sprintf(ErrorMSG,"ERR:Pressure sensor");
                 newErrorCode = 16;
+        }
         else if(FC.Error[1] &  FC_ERROR1_I2C)
+        {
         else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)
+        {
                 LED_RED_ON;
 //      if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected ");
 //              else
                  {
-                  sprintf(ErrorMSG,"no GPS communication ");
+                  sprintf(ErrorMSG,"no GPS communication");
                   UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX;
               newErrorCode = 5;
+                 }
                 StopNavigation = 1;
 //              UBX_Timeout = SetDelay(500);
          DebugOut.StatusRed |= AMPEL_NC;
+        }
         else if((SD_LoggingError || (SD_WatchDog == 0)) && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START )
+        {
          LED_RED_ON;
-         sprintf(ErrorMSG,"ERR:SD Logging aborted");
+         sprintf(ErrorMSG,"ERR:SD Logging abort");
          newErrorCode = 27;
          DebugOut.StatusRed |= AMPEL_NC;
          SD_LoggingError = 0;
+        }
         else if(((AbsoluteFlyingAltitude) && (NaviData.Altimeter / 20 >= AbsoluteFlyingAltitude)) && (FC.StatusFlags & FC_STATUS_FLY))
+        {
                 StopNavigation = 0;
                 LED_RED_OFF;
                 if(no_error_delay) { no_error_delay--;  }
                 else
                  {
-                  sprintf(ErrorMSG,"No Error               ");
+                  sprintf(ErrorMSG,"No Error            ");
                   ErrorCode = 0;
+                 }
+        }
  FC.Error[3] = 0;
  FC.Error[4] = 0;
  ErrorGpsFixLost = 0;
+}
-// 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 Polling(void)
+{
- static u8 running = 0;
- if(running) return;
- running = 1;
+ static u8 running = 0;
-LED_GRN_OFF;
+ if(running) return;
-// PollingTimeout = 20;
+ running = 1;
+                SPI0_UpdateBuffer();    // also calls the GPS-functions
-                SPI0_UpdateBuffer();    // also calls the GPS-functions
+                UART0_ProcessRxData();  // GPS process request
-                UART0_ProcessRxData();  // GPS process request
+                UART0_TransmitTxData(); // GPS send answer
-                UART0_TransmitTxData(); // GPS send answer
+                UART1_ProcessRxData();  // PC process request
+                UART1_TransmitTxData(); // PC send answer
+                UART2_TransmitTxData(); // FC send answer
-                UART1_TransmitTxData(); // PC send answer
+                CalcHeadFree();
+                // ---------------- Error Check Timing ----------------------------
+                if(CheckDelay(TimerCheckError))
+                {
+                        TimerCheckError = SetDelay(1000);
+                        if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
+                        if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors();
+                        if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time
+//                      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
-                UART2_TransmitTxData(); // FC send answer
+                        else NCFlags &= ~NC_FLAG_NOSERIALLINK;
-                CalcHeadFree();
+                        if(StopNavigation && (Parameter.NaviGpsModeControl >=  50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;
-LED_GRN_ON;
+                }
+ running = 0;
+}
  running = 0;
 // 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
         Compass_Update();               // update compass communication
         Analog_Update();                // get new ADC values
- if(!PollingTimeout)
+        if(!PollingTimeout)
+        {
-   PollingTimeout = 3;
+                PollingTimeout = 5;
-   Polling();
+                Polling();
         // enable interrupts
     VIC_ITCmd(EXTIT3_ITLine, ENABLE);
         Debug_OK("START");
+        UART1_PutString("\r\n");
-        UART1_PutString("\r\n");
+        fifo_purge(&UART1_rx_fifo); // flush the whole fifo init buffer
+        LED_GRN_ON;
-Polling();
+        LED_RED_OFF;
         for (;;) // the endless main loop
+        {
             Polling();
-                PollingTimeout = 15;
-DebugOut.Analog[17] = CountMilliseconds;
-                UART1_ProcessRxData();  // PC process request
-//              UART1_TransmitTxData(); // PC send answer
-                // ---------------- Error Check Timing ----------------------------
-                if(CheckDelay(TimerCheckError))
-                {
-                        TimerCheckError = SetDelay(1000);
-                        if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected
-                        if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors();
-                        if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time
-//                      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) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000;
-                }
+                PollingTimeout = 15;
-                // ---------------- Logging  ---------------------------------------
+                // ---------------- Logging  ---------------------------------------
                 if(SD_WatchDog)
                  {
-                  SD_WatchDog = 10000;
+                  SD_WatchDog = 30000;
                   if(SDCardInfo.Valid == 1) Logging_Update();  // could be block some time for at max. 2 seconds, therefore move time critical part of the mainloop into the ISR of timer 1
                   else if(FC.StatusFlags & FC_STATUS_START) SD_LoggingError = 100;
                   if(!SD_WatchDog) UART1_PutString("\n\rSD-Watchdog - Logging aborted\n\r");
-                 }
+                 }
                 /*
                 // test
                 if(CheckDelay(ftimer))
+                {

Subversion Repositories NaviCtrl

(root)/tags/V2.06d/main.c @ 811 - Rev 378 → 380