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1 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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171 | ingob | 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
1 | ingob | 7 | // + FOR NON COMMERCIAL USE ONLY |
8 | // + www.MikroKopter.com |
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9 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 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. |
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12 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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13 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1 | ingob | 14 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
15 | // + Verkauf von Luftbildaufnahmen, usw. |
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16 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 17 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
1 | ingob | 18 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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21 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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22 | // + eindeutig als Ursprung verlinkt werden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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25 | // + Benutzung auf eigene Gefahr |
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26 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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27 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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171 | ingob | 28 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
1 | ingob | 29 | // + mit unserer Zustimmung zulässig |
30 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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31 | // + Teile, die nicht eindeutig mit unserer Lizenzvereinbarung gekennzeichnet sind, unterliegen u.U. eigenen Vereinbarungen: |
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41 | ingob | 32 | // + z.B. Die Funktion printf_P() unterliegt ihrer eigenen Lizenz |
1 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 34 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
1 | ingob | 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 |
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37 | // + from this software without specific prior written permission. |
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41 | ingob | 38 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
1 | ingob | 39 | // + for non-commercial use (directly or indirectly) |
41 | ingob | 40 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1 | ingob | 41 | // + with our written permission |
41 | ingob | 42 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
43 | // + clearly linked as origin |
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171 | ingob | 44 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
1 | ingob | 45 | // |
46 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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47 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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48 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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49 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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50 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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51 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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52 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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53 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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54 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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55 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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41 | ingob | 56 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 57 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 58 | //#define MCLK96MHZ |
1 | ingob | 59 | const unsigned long _Main_Crystal = 25000; |
41 | ingob | 60 | #include <stdio.h> |
61 | #include "91x_lib.h" |
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62 | #include "led.h" |
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63 | #include "uart0.h" |
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64 | #include "uart1.h" |
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65 | #include "uart2.h" |
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215 | killagreg | 66 | #include "gps.h" |
41 | ingob | 67 | #include "i2c.h" |
242 | killagreg | 68 | #include "compass.h" |
119 | killagreg | 69 | #include "timer1.h" |
70 | #include "timer2.h" |
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134 | killagreg | 71 | #include "analog.h" |
41 | ingob | 72 | #include "spi_slave.h" |
73 | #include "fat16.h" |
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74 | #include "usb.h" |
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75 | #include "sdc.h" |
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82 | killagreg | 76 | #include "logging.h" |
156 | killagreg | 77 | #include "params.h" |
88 | killagreg | 78 | #include "settings.h" |
154 | killagreg | 79 | #include "config.h" |
1 | ingob | 80 | #include "main.h" |
250 | ingob | 81 | #include "debug.h" |
1 | ingob | 82 | |
254 | killagreg | 83 | #include "eeprom.h" |
84 | |||
41 | ingob | 85 | u32 TimerCheckError; |
234 | killagreg | 86 | u8 ErrorCode = 0; |
41 | ingob | 87 | u16 BeepTime; |
92 | killagreg | 88 | u8 NCFlags = 0; |
153 | killagreg | 89 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
1 | ingob | 90 | |
255 | killagreg | 91 | u8 ClearFCStatusFlags = 0; |
41 | ingob | 92 | u8 StopNavigation = 0; |
93 | Param_t Parameter; |
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78 | holgerb | 94 | volatile FC_t FC; |
1 | ingob | 95 | |
41 | ingob | 96 | s8 ErrorMSG[25]; |
97 | |||
1 | ingob | 98 | //---------------------------------------------------------------------------------------------------- |
41 | ingob | 99 | void SCU_Config(void) |
1 | ingob | 100 | { |
41 | ingob | 101 | /* configure PLL and set it as master clock source */ |
102 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
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103 | SCU_PLLCmd(DISABLE); // now disable the PLL |
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104 | #ifdef MCLK96MHZ |
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105 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
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106 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
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107 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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108 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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109 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
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110 | #else |
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111 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
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112 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
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113 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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114 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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115 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
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116 | #endif |
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117 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
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118 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
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119 | } |
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1 | ingob | 120 | |
41 | ingob | 121 | //---------------------------------------------------------------------------------------------------- |
122 | void GetNaviCtrlVersion(void) |
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1 | ingob | 123 | { |
41 | ingob | 124 | u8 msg[25]; |
270 | killagreg | 125 | |
264 | killagreg | 126 | sprintf(msg,"\n\r NaviCtrl HW: V%d.%d SW: V%d.%d%c", Version_HW/10, Version_HW%10, VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
110 | killagreg | 127 | UART1_PutString(msg); |
1 | ingob | 128 | } |
129 | |||
130 | //---------------------------------------------------------------------------------------------------- |
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231 | holgerb | 131 | |
41 | ingob | 132 | void CheckErrors(void) |
133 | { |
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232 | killagreg | 134 | UART_VersionInfo.HardwareError[0] = 0; |
231 | holgerb | 135 | |
292 | killagreg | 136 | if(CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.Status[1] |= 0x08; |
232 | killagreg | 137 | else DebugOut.Status[1] &= ~0x08; // MK3Mag green status |
231 | holgerb | 138 | |
255 | killagreg | 139 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.Status[1] |= 0x02; |
232 | killagreg | 140 | else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status |
141 | |||
146 | killagreg | 142 | if(CheckDelay(SPI0_Timeout)) |
41 | ingob | 143 | { |
144 | LED_RED_ON; |
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145 | sprintf(ErrorMSG,"no FC communication "); |
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146 | ErrorCode = 3; |
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147 | StopNavigation = 1; |
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231 | holgerb | 148 | DebugOut.Status[0] &= ~0x01; // status of FC Present |
232 | killagreg | 149 | DebugOut.Status[0] &= ~0x02; // status of BL Present |
256 | killagreg | 150 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
41 | ingob | 151 | } |
229 | holgerb | 152 | else if(CheckDelay(I2C1_Timeout)) |
41 | ingob | 153 | { |
154 | LED_RED_ON; |
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256 | killagreg | 155 | sprintf(ErrorMSG,"no compass communication "); |
149 | killagreg | 156 | //Reset I2CBus |
157 | I2C1_Deinit(); |
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158 | I2C1_Init(); |
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41 | ingob | 159 | ErrorCode = 4; |
160 | StopNavigation = 1; |
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256 | killagreg | 161 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
232 | killagreg | 162 | DebugOut.Status[1] |= 0x08; |
41 | ingob | 163 | } |
164 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
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165 | { |
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166 | LED_RED_ON; |
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167 | sprintf(ErrorMSG,"FC not compatible "); |
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168 | ErrorCode = 1; |
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169 | StopNavigation = 1; |
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256 | killagreg | 170 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
41 | ingob | 171 | } |
231 | holgerb | 172 | |
255 | killagreg | 173 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
231 | holgerb | 174 | { |
175 | LED_RED_ON; |
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176 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
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177 | ErrorCode = 10; |
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232 | killagreg | 178 | } |
255 | killagreg | 179 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
231 | holgerb | 180 | { |
181 | LED_RED_ON; |
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182 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
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183 | ErrorCode = 11; |
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232 | killagreg | 184 | } |
255 | killagreg | 185 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
231 | holgerb | 186 | { |
187 | LED_RED_ON; |
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188 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
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189 | ErrorCode = 12; |
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232 | killagreg | 190 | } |
255 | killagreg | 191 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
231 | holgerb | 192 | { |
193 | LED_RED_ON; |
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194 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
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195 | ErrorCode = 13; |
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232 | killagreg | 196 | } |
255 | killagreg | 197 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
231 | holgerb | 198 | { |
199 | LED_RED_ON; |
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200 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
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201 | ErrorCode = 14; |
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232 | killagreg | 202 | } |
255 | killagreg | 203 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
231 | holgerb | 204 | { |
205 | LED_RED_ON; |
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206 | sprintf(ErrorMSG,"ERR: FC Z-ACC"); |
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207 | ErrorCode = 15; |
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232 | killagreg | 208 | } |
255 | killagreg | 209 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
231 | holgerb | 210 | { |
211 | LED_RED_ON; |
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212 | sprintf(ErrorMSG,"ERR: Pressure sensor"); |
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213 | ErrorCode = 16; |
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232 | killagreg | 214 | } |
255 | killagreg | 215 | else if(FC.Error[1] & FC_ERROR1_I2C) |
231 | holgerb | 216 | { |
217 | LED_RED_ON; |
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218 | sprintf(ErrorMSG,"ERR: FC I2C"); |
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219 | ErrorCode = 17; |
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232 | killagreg | 220 | } |
255 | killagreg | 221 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
231 | holgerb | 222 | { |
223 | LED_RED_ON; |
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224 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
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225 | ErrorCode = 18; |
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232 | killagreg | 226 | } |
255 | killagreg | 227 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
231 | holgerb | 228 | { |
229 | LED_RED_ON; |
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230 | sprintf(ErrorMSG,"Mixer Error"); |
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231 | ErrorCode = 19; |
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232 | killagreg | 232 | } |
146 | killagreg | 233 | else if(CheckDelay(UBX_Timeout)) |
41 | ingob | 234 | { |
235 | LED_RED_ON; |
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236 | sprintf(ErrorMSG,"no GPS communication "); |
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237 | ErrorCode = 5; |
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238 | StopNavigation = 1; |
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256 | killagreg | 239 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
41 | ingob | 240 | } |
254 | killagreg | 241 | else if(Compass_Heading < 0) |
41 | ingob | 242 | { |
243 | LED_RED_ON; |
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244 | sprintf(ErrorMSG,"bad compass value "); |
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245 | ErrorCode = 6; |
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246 | StopNavigation = 1; |
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256 | killagreg | 247 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
41 | ingob | 248 | } |
255 | killagreg | 249 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
199 | killagreg | 250 | { |
251 | LED_RED_ON; |
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252 | sprintf(ErrorMSG,"FC spi rx error "); |
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253 | ErrorCode = 8; |
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213 | killagreg | 254 | StopNavigation = 1; |
199 | killagreg | 255 | } |
255 | killagreg | 256 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
231 | holgerb | 257 | { |
258 | LED_RED_ON; |
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259 | sprintf(ErrorMSG,"FC: Carefree Error"); |
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260 | ErrorCode = 20; |
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232 | killagreg | 261 | } |
255 | killagreg | 262 | else if(FC.Error[1] & FC_ERROR1_PPM) |
41 | ingob | 263 | { |
264 | LED_RED_ON; |
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265 | sprintf(ErrorMSG,"RC Signal lost "); |
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266 | ErrorCode = 7; |
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267 | } |
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268 | else // no error occured |
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269 | { |
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270 | sprintf(ErrorMSG,"No Error "); |
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271 | ErrorCode = 0; |
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272 | StopNavigation = 0; |
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273 | LED_RED_OFF; |
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274 | } |
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232 | killagreg | 275 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 0x04; |
276 | else DebugOut.Status[1] &= ~0x04; |
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41 | ingob | 277 | } |
24 | StephanB | 278 | |
154 | killagreg | 279 | // the handler will be cyclic called by the timer 1 ISR |
213 | killagreg | 280 | // used is for critical timing parts that normaly would handled |
154 | killagreg | 281 | // within the main loop that could block longer at logging activities |
282 | void EXTIT3_IRQHandler(void) |
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283 | { |
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195 | killagreg | 284 | IENABLE; |
285 | |||
154 | killagreg | 286 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
195 | killagreg | 287 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
292 | killagreg | 288 | Compass_Update(); // update compass communication |
154 | killagreg | 289 | Analog_Update(); // get new ADC values |
195 | killagreg | 290 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
154 | killagreg | 291 | |
195 | killagreg | 292 | IDISABLE; |
154 | killagreg | 293 | } |
294 | |||
41 | ingob | 295 | //---------------------------------------------------------------------------------------------------- |
296 | int main(void) |
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297 | { |
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298 | /* Configure the system clocks */ |
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299 | SCU_Config(); |
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300 | /* init VIC (Vectored Interrupt Controller) */ |
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301 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
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302 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
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303 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
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196 | killagreg | 304 | VIC_InitDefaultVectors(); |
305 | |||
119 | killagreg | 306 | // initialize timer 1 for System Clock and delay rountines |
41 | ingob | 307 | TIMER1_Init(); |
308 | // initialize the LEDs (needs Timer 1) |
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309 | Led_Init(); |
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310 | // initialize the debug UART1 |
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311 | UART1_Init(); |
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110 | killagreg | 312 | UART1_PutString("\r\n---------------------------------------------"); |
275 | killagreg | 313 | // initialize usb |
314 | USB_ConfigInit(); |
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120 | killagreg | 315 | // initialize timer 2 for servo outputs |
180 | killagreg | 316 | //TIMER2_Init(); |
41 | ingob | 317 | // initialize UART2 to FLIGHTCTRL |
318 | UART2_Init(); |
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319 | // initialize UART0 (to MKGPS or MK3MAG) |
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320 | UART0_Init(); |
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134 | killagreg | 321 | // initialize adc |
322 | Analog_Init(); |
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41 | ingob | 323 | // initialize SPI0 to FC |
324 | SPI0_Init(); |
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242 | killagreg | 325 | // initialize i2c bus (needs Timer 1) |
41 | ingob | 326 | I2C1_Init(); |
247 | killagreg | 327 | // initialize fat16 partition on sd card (needs Timer 1) |
41 | ingob | 328 | Fat16_Init(); |
156 | killagreg | 329 | // initialize NC params |
330 | NCParams_Init(); |
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88 | killagreg | 331 | // initialize the settings |
332 | Settings_Init(); |
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92 | killagreg | 333 | // initialize logging (needs settings) |
82 | killagreg | 334 | Logging_Init(); |
1 | ingob | 335 | |
41 | ingob | 336 | TimerCheckError = SetDelay(3000); |
175 | holgerb | 337 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
110 | killagreg | 338 | UART1_PutString("\n\r Version information:"); |
116 | killagreg | 339 | |
41 | ingob | 340 | GetNaviCtrlVersion(); |
231 | holgerb | 341 | DebugOut.Status[0] = 0x04 | 0x08; // NC and MK3Mag |
342 | DebugOut.Status[1] = 0x00; |
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149 | killagreg | 343 | |
242 | killagreg | 344 | Compass_Init(); |
270 | killagreg | 345 | |
150 | killagreg | 346 | SPI0_GetFlightCtrlVersion(); |
347 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
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41 | ingob | 348 | { |
150 | killagreg | 349 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
41 | ingob | 350 | LED_RED_ON; |
351 | } |
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1 | ingob | 352 | |
270 | killagreg | 353 | GPS_Init(); |
116 | killagreg | 354 | |
213 | killagreg | 355 | // ---------- Prepare the isr driven |
154 | killagreg | 356 | // set to absolute lowest priority |
357 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
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195 | killagreg | 358 | // enable interrupts |
154 | killagreg | 359 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
244 | killagreg | 360 | |
250 | ingob | 361 | Debug_OK("START"); |
270 | killagreg | 362 | |
154 | killagreg | 363 | for (;;) // the endless main loop |
41 | ingob | 364 | { |
155 | killagreg | 365 | UART0_ProcessRxData(); // process request |
366 | UART1_ProcessRxData(); // process request |
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254 | killagreg | 367 | USB_ProcessRxData(); // process request |
154 | killagreg | 368 | UART0_TransmitTxData(); // send answer |
146 | killagreg | 369 | UART1_TransmitTxData(); // send answer |
190 | killagreg | 370 | UART2_TransmitTxData(); // send answer |
254 | killagreg | 371 | USB_TransmitTxData(); // send answer |
155 | killagreg | 372 | SPI0_UpdateBuffer(); // handle new SPI Data |
41 | ingob | 373 | // ---------------- Error Check Timing ---------------------------- |
374 | if(CheckDelay(TimerCheckError)) |
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1 | ingob | 375 | { |
114 | killagreg | 376 | TimerCheckError = SetDelay(1000); |
215 | killagreg | 377 | if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
41 | ingob | 378 | CheckErrors(); |
255 | killagreg | 379 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
146 | killagreg | 380 | // else NaviData.FlyingTime = 0; // not the time per flight |
92 | killagreg | 381 | if(SerialLinkOkay) SerialLinkOkay--; |
382 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
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383 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
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228 | holgerb | 384 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000; |
1 | ingob | 385 | } |
82 | killagreg | 386 | // ---------------- Logging --------------------------------------- |
146 | killagreg | 387 | 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 |
24 | StephanB | 388 | } |
1 | ingob | 389 | } |
390 | |||
24 | StephanB | 391 |