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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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6 | // + Nur für den privaten Gebrauch |
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7 | // + FOR NON COMMERCIAL USE ONLY |
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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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41 | ingob | 28 | // + Die PORTIERUNG 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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1 | ingob | 44 | // + * PORTING this software (or part of it) to systems (other than hardware from www.mikrokopter.de) is NOT allowed |
45 | // |
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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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66 | #include "GPS.h" |
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67 | #include "i2c.h" |
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68 | #include "timer.h" |
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69 | #include "spi_slave.h" |
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70 | #include "fat16.h" |
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71 | #include "usb.h" |
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72 | #include "sdc.h" |
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82 | killagreg | 73 | #include "logging.h" |
88 | killagreg | 74 | #include "settings.h" |
1 | ingob | 75 | #include "main.h" |
76 | |||
77 | u32 TimerCompassUpdate; |
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41 | ingob | 78 | u32 TimerCheckError; |
79 | u32 ErrorCode = 0; |
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80 | u16 BeepTime; |
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92 | killagreg | 81 | u8 NCFlags = 0; |
1 | ingob | 82 | |
41 | ingob | 83 | u8 ClearMKFlags = 0; |
84 | u8 StopNavigation = 0; |
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85 | Param_t Parameter; |
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78 | holgerb | 86 | volatile FC_t FC; |
1 | ingob | 87 | |
41 | ingob | 88 | s8 ErrorMSG[25]; |
89 | |||
1 | ingob | 90 | //---------------------------------------------------------------------------------------------------- |
41 | ingob | 91 | void SCU_Config(void) |
1 | ingob | 92 | { |
41 | ingob | 93 | /* configure PLL and set it as master clock source */ |
94 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
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95 | SCU_PLLCmd(DISABLE); // now disable the PLL |
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96 | #ifdef MCLK96MHZ |
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97 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
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98 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
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99 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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100 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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101 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
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102 | #else |
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103 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
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104 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
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105 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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106 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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107 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
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108 | #endif |
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109 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
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110 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
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111 | } |
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1 | ingob | 112 | |
41 | ingob | 113 | //---------------------------------------------------------------------------------------------------- |
114 | void GetNaviCtrlVersion(void) |
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1 | ingob | 115 | { |
41 | ingob | 116 | u8 msg[25]; |
1 | ingob | 117 | |
41 | ingob | 118 | sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
110 | killagreg | 119 | UART1_PutString(msg); |
1 | ingob | 120 | } |
121 | |||
41 | ingob | 122 | |
1 | ingob | 123 | //---------------------------------------------------------------------------------------------------- |
41 | ingob | 124 | s8* GenerateGPSLogFileName(void) |
1 | ingob | 125 | { |
41 | ingob | 126 | static u16 filenum = 0; // file name counter |
127 | static s8 filename[30]; |
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128 | static DateTime_t LastTime = {0,0,0,0,0,0,0,0}; |
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1 | ingob | 129 | |
41 | ingob | 130 | if(SystemTime.Valid) |
131 | { |
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132 | // if the day has been changed |
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133 | if((LastTime.Year != SystemTime.Year) || (LastTime.Month != SystemTime.Month) || (LastTime.Day != SystemTime.Day)) |
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134 | { |
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135 | LastTime.Year = SystemTime.Year; |
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136 | LastTime.Month = SystemTime.Month; |
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137 | LastTime.Day = SystemTime.Day; |
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138 | LastTime.Valid = 1; |
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139 | filenum = 0; // reset file counter |
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140 | } |
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141 | sprintf(filename, "LOG/%04i%02i%02i/GPS%05i.KML", SystemTime.Year, SystemTime.Month, SystemTime.Day, filenum); |
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142 | filenum++; |
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143 | return filename; |
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144 | } |
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145 | else return NULL; |
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146 | } |
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24 | StephanB | 147 | |
148 | |||
41 | ingob | 149 | //---------------------------------------------------------------------------------------------------- |
150 | void CheckErrors(void) |
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151 | { |
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152 | if(!CheckSPIOkay) |
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153 | { |
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154 | LED_RED_ON; |
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155 | sprintf(ErrorMSG,"no FC communication "); |
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156 | ErrorCode = 3; |
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157 | StopNavigation = 1; |
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158 | } |
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159 | else if(!CheckI2COkay) |
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160 | { |
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161 | LED_RED_ON; |
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162 | sprintf(ErrorMSG,"no MK3Mag communication "); |
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163 | ErrorCode = 4; |
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164 | StopNavigation = 1; |
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165 | } |
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166 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
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167 | { |
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168 | LED_RED_ON; |
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169 | sprintf(ErrorMSG,"FC not compatible "); |
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170 | ErrorCode = 1; |
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171 | StopNavigation = 1; |
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172 | } |
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173 | else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
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174 | { |
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175 | sprintf(ErrorMSG,"MK3Mag not compatible "); |
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176 | LED_RED_ON; |
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177 | ErrorCode = 2; |
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178 | StopNavigation = 1; |
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179 | } |
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180 | else if(!CheckGPSOkay) |
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181 | { |
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182 | LED_RED_ON; |
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183 | sprintf(ErrorMSG,"no GPS communication "); |
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184 | ErrorCode = 5; |
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185 | StopNavigation = 1; |
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186 | } |
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187 | else if(I2C_Heading.Heading < 0) |
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188 | { |
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189 | LED_RED_ON; |
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190 | sprintf(ErrorMSG,"bad compass value "); |
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191 | ErrorCode = 6; |
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192 | StopNavigation = 1; |
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193 | } |
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194 | else if(FC.RC_Quality < 100) |
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195 | { |
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196 | LED_RED_ON; |
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197 | sprintf(ErrorMSG,"RC Signal lost "); |
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198 | ErrorCode = 7; |
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199 | } |
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200 | else // no error occured |
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201 | { |
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202 | sprintf(ErrorMSG,"No Error "); |
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203 | ErrorCode = 0; |
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204 | StopNavigation = 0; |
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205 | LED_RED_OFF; |
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206 | } |
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207 | CheckSPIOkay = 0; |
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208 | CheckGPSOkay = 0; |
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209 | CheckI2COkay = 0; |
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210 | } |
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24 | StephanB | 211 | |
212 | |||
1 | ingob | 213 | |
41 | ingob | 214 | //---------------------------------------------------------------------------------------------------- |
215 | int main(void) |
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216 | { |
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217 | /* Configure the system clocks */ |
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218 | SCU_Config(); |
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219 | /* init VIC (Vectored Interrupt Controller) */ |
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220 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
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221 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
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222 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
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223 | // initialize the interrupt handler |
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224 | Interrupt_Init(); |
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225 | // initialize timer 1 |
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226 | TIMER1_Init(); |
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227 | // initialize the LEDs (needs Timer 1) |
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228 | Led_Init(); |
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229 | // initialize the debug UART1 |
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230 | UART1_Init(); |
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110 | killagreg | 231 | UART1_PutString("\r\n---------------------------------------------"); |
41 | ingob | 232 | // initialize UART2 to FLIGHTCTRL |
233 | UART2_Init(); |
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234 | // initialize UART0 (to MKGPS or MK3MAG) |
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235 | UART0_Init(); |
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236 | // initialize usb |
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237 | USB_ConfigInit(); |
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238 | // initialize SPI0 to FC |
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239 | SPI0_Init(); |
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240 | // initialize i2c bus to MK3MAG (needs Timer 1) |
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241 | I2C1_Init(); |
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242 | // initialize the gps position controller (needs Timer 1) |
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243 | GPS_Init(); |
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244 | // initialize fat16 partition on sd card (needs Timer 1) |
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245 | Fat16_Init(); |
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88 | killagreg | 246 | // initialize the settings |
247 | Settings_Init(); |
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92 | killagreg | 248 | // initialize logging (needs settings) |
82 | killagreg | 249 | Logging_Init(); |
1 | ingob | 250 | |
41 | ingob | 251 | TimerCompassUpdate = SetDelay(5); |
252 | TimerCheckError = SetDelay(3000); |
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110 | killagreg | 253 | UART1_PutString("\r\n---------------------------------------------"); |
254 | UART1_PutString("\n\r Version information:"); |
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41 | ingob | 255 | GetNaviCtrlVersion(); |
256 | SPI0_GetFlightCtrlVersion(); |
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257 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
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258 | { |
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259 | //sprintf(ErrorMSG,"\r\n %d <-> %d", FlightCtrlVersion.NaviCompatible, FC_SPI_COMPATIBLE); |
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110 | killagreg | 260 | //UART1_PutString(ErrorMSG); |
261 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
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41 | ingob | 262 | LED_RED_ON; |
263 | } |
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78 | holgerb | 264 | |
41 | ingob | 265 | I2C1_GetMK3MagVersion(); |
266 | if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
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267 | { |
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110 | killagreg | 268 | UART1_PutString("\n\r MK3Mag not compatible"); |
41 | ingob | 269 | LED_RED_ON; |
270 | } |
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1 | ingob | 271 | |
110 | killagreg | 272 | UART1_PutString("\r\n---------------------------------------------\r\n\r\n"); |
24 | StephanB | 273 | |
41 | ingob | 274 | for (;;) |
275 | { |
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92 | killagreg | 276 | UART1_ProcessRxData(); // process request |
41 | ingob | 277 | UART1_TransmitTxData(); // send answer |
24 | StephanB | 278 | |
41 | ingob | 279 | SPI0_UpdateBuffer(); |
49 | ingob | 280 | UART0_Transmit(); // empty txd buffer |
24 | StephanB | 281 | |
41 | ingob | 282 | // ------------------------- I2C Timing -------------------------------- |
283 | if(I2C_State != I2C_OFF) |
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284 | { |
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285 | if (CheckDelay(TimerCompassUpdate)) |
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286 | { |
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287 | // check for hanging I2C bus |
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288 | if(CheckDelay(I2C1_Timeout)) |
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289 | { // reset I2C |
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110 | killagreg | 290 | UART1_PutString("\n\rCommunication-Error: MK3Mag\n\r"); |
41 | ingob | 291 | I2C1_Deinit(); |
292 | I2C1_Init(); |
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293 | } |
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294 | else |
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295 | { // check for incomming compass calibration request |
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296 | // update CalByte from spi input queue |
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297 | fifo_get(&CompassCalcStateFiFo, (u8 *)&(I2C_WriteCal.CalByte)); |
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298 | // send new calstate |
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299 | if(I2C_ReadCal.CalByte != I2C_WriteCal.CalByte) |
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300 | { |
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301 | I2C1_SendCommand(I2C_CMD_WRITE_CAL); |
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302 | } |
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303 | else // request current heading |
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304 | { |
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305 | I2C1_SendCommand(I2C_CMD_READ_HEADING); |
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306 | } |
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307 | TimerCompassUpdate = SetDelay(25); // every 25 ms |
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308 | } |
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24 | StephanB | 309 | |
41 | ingob | 310 | } |
311 | } |
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1 | ingob | 312 | |
41 | ingob | 313 | // ---------------- Error Check Timing ---------------------------- |
314 | if(CheckDelay(TimerCheckError)) |
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1 | ingob | 315 | { |
41 | ingob | 316 | if(!CheckSPIOkay) GPS_Navigation(); // process the GPS data even if the FC is not connected |
317 | CheckErrors(); |
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77 | holgerb | 318 | if(FC.MKFlags & MKFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
319 | // else NaviData.FlyingTime = 0; |
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41 | ingob | 320 | TimerCheckError = SetDelay(1000); |
110 | killagreg | 321 | UART1_Request_SendFollowMe = TRUE; |
92 | killagreg | 322 | if(SerialLinkOkay) SerialLinkOkay--; |
323 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
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324 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
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1 | ingob | 325 | } |
82 | killagreg | 326 | // ---------------- Logging --------------------------------------- |
327 | Logging_Update(); |
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24 | StephanB | 328 | } |
1 | ingob | 329 | } |
330 | |||
24 | StephanB | 331 |