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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 | |
218 | killagreg | 83 | u8 BoardRelease = 0; |
41 | ingob | 84 | u32 TimerCheckError; |
234 | killagreg | 85 | u8 ErrorCode = 0; |
41 | ingob | 86 | u16 BeepTime; |
92 | killagreg | 87 | u8 NCFlags = 0; |
153 | killagreg | 88 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
1 | ingob | 89 | |
199 | killagreg | 90 | u8 ClearFCFlags = 0; |
41 | ingob | 91 | u8 StopNavigation = 0; |
92 | Param_t Parameter; |
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78 | holgerb | 93 | volatile FC_t FC; |
1 | ingob | 94 | |
41 | ingob | 95 | s8 ErrorMSG[25]; |
96 | |||
1 | ingob | 97 | //---------------------------------------------------------------------------------------------------- |
41 | ingob | 98 | void SCU_Config(void) |
1 | ingob | 99 | { |
41 | ingob | 100 | /* configure PLL and set it as master clock source */ |
101 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
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102 | SCU_PLLCmd(DISABLE); // now disable the PLL |
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103 | #ifdef MCLK96MHZ |
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104 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
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105 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
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106 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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107 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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108 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
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109 | #else |
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110 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
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111 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
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112 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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113 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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114 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
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115 | #endif |
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116 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
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117 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
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118 | } |
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1 | ingob | 119 | |
41 | ingob | 120 | //---------------------------------------------------------------------------------------------------- |
121 | void GetNaviCtrlVersion(void) |
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1 | ingob | 122 | { |
41 | ingob | 123 | u8 msg[25]; |
1 | ingob | 124 | |
41 | ingob | 125 | sprintf(msg,"\n\r NaviCtrl V%d.%d%c", VERSION_MAJOR, VERSION_MINOR, 'a'+ VERSION_PATCH); |
110 | killagreg | 126 | UART1_PutString(msg); |
1 | ingob | 127 | } |
128 | |||
129 | //---------------------------------------------------------------------------------------------------- |
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231 | holgerb | 130 | #define DEFEKT_G_NICK 0x01 |
131 | #define DEFEKT_G_ROLL 0x02 |
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132 | #define DEFEKT_G_GIER 0x04 |
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133 | #define DEFEKT_A_NICK 0x08 |
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134 | #define DEFEKT_A_ROLL 0x10 |
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135 | #define DEFEKT_A_Z 0x20 |
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136 | #define DEFEKT_PRESSURE 0x40 |
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137 | #define DEFEKT_CAREFREE_ERR 0x80 |
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138 | |||
139 | #define DEFEKT_I2C 0x01 |
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140 | #define DEFEKT_BL_MISSING 0x02 |
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141 | #define DEFEKT_SPI_RX_ERR 0x04 |
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142 | #define DEFEKT_PPM_ERR 0x08 |
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143 | #define DEFEKT_MIXER_ERR 0x10 |
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144 | //---------------------------------------------------------------------------------------------------- |
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145 | #define ERROR_FC_COMMUNICATION 0x01 |
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146 | #define ERROR_MK3_COMMUNICATION 0x02 |
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147 | #define ERROR_FC_INCOMPATIBLE 0x04 |
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148 | #define ERROR_MK3_INCOMPATIBLE 0x08 |
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149 | #define ERROR_GPS_COMMUNICATION 0x10 |
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150 | #define ERROR_COMPASS_VALUE 0x20 |
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151 | //---------------------------------------------------------------------------------------------------- |
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152 | |||
41 | ingob | 153 | void CheckErrors(void) |
154 | { |
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232 | killagreg | 155 | UART_VersionInfo.HardwareError[0] = 0; |
231 | holgerb | 156 | |
242 | killagreg | 157 | if(/*(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) ||*/ CheckDelay(I2C1_Timeout) || (CompassHeading < 0)) DebugOut.Status[1] |= 0x08; |
232 | killagreg | 158 | else DebugOut.Status[1] &= ~0x08; // MK3Mag green status |
231 | holgerb | 159 | |
232 | killagreg | 160 | if((FC_ErrorCode[1] & DEFEKT_I2C) || (FC_ErrorCode[1] & DEFEKT_BL_MISSING)) DebugOut.Status[1] |= 0x02; |
161 | else DebugOut.Status[1] &= ~0x02; // BL-Ctrl green status |
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162 | |||
146 | killagreg | 163 | if(CheckDelay(SPI0_Timeout)) |
41 | ingob | 164 | { |
165 | LED_RED_ON; |
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166 | sprintf(ErrorMSG,"no FC communication "); |
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167 | ErrorCode = 3; |
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168 | StopNavigation = 1; |
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231 | holgerb | 169 | DebugOut.Status[0] &= ~0x01; // status of FC Present |
232 | killagreg | 170 | DebugOut.Status[0] &= ~0x02; // status of BL Present |
231 | holgerb | 171 | UART_VersionInfo.HardwareError[0] |= ERROR_FC_COMMUNICATION; |
41 | ingob | 172 | } |
229 | holgerb | 173 | else if(CheckDelay(I2C1_Timeout)) |
41 | ingob | 174 | { |
175 | LED_RED_ON; |
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176 | sprintf(ErrorMSG,"no MK3Mag communication "); |
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149 | killagreg | 177 | //Reset I2CBus |
178 | I2C1_Deinit(); |
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179 | I2C1_Init(); |
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41 | ingob | 180 | ErrorCode = 4; |
181 | StopNavigation = 1; |
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231 | holgerb | 182 | UART_VersionInfo.HardwareError[0] |= ERROR_MK3_COMMUNICATION; |
232 | killagreg | 183 | DebugOut.Status[1] |= 0x08; |
41 | ingob | 184 | } |
185 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
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186 | { |
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187 | LED_RED_ON; |
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188 | sprintf(ErrorMSG,"FC not compatible "); |
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189 | ErrorCode = 1; |
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190 | StopNavigation = 1; |
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231 | holgerb | 191 | UART_VersionInfo.HardwareError[0] |= ERROR_FC_INCOMPATIBLE; |
41 | ingob | 192 | } |
231 | holgerb | 193 | |
194 | else if(FC_ErrorCode[0] & DEFEKT_G_NICK) |
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195 | { |
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196 | LED_RED_ON; |
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197 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
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198 | ErrorCode = 10; |
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232 | killagreg | 199 | } |
231 | holgerb | 200 | else if(FC_ErrorCode[0] & DEFEKT_G_ROLL) |
201 | { |
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202 | LED_RED_ON; |
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203 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
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204 | ErrorCode = 11; |
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232 | killagreg | 205 | } |
231 | holgerb | 206 | else if(FC_ErrorCode[0] & DEFEKT_G_GIER) |
207 | { |
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208 | LED_RED_ON; |
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209 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
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210 | ErrorCode = 12; |
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232 | killagreg | 211 | } |
231 | holgerb | 212 | else if(FC_ErrorCode[0] & DEFEKT_A_NICK) |
213 | { |
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214 | LED_RED_ON; |
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215 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
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216 | ErrorCode = 13; |
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232 | killagreg | 217 | } |
231 | holgerb | 218 | else if(FC_ErrorCode[0] & DEFEKT_A_ROLL) |
219 | { |
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220 | LED_RED_ON; |
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221 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
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222 | ErrorCode = 14; |
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232 | killagreg | 223 | } |
231 | holgerb | 224 | else if(FC_ErrorCode[0] & DEFEKT_A_Z) |
225 | { |
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226 | LED_RED_ON; |
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227 | sprintf(ErrorMSG,"ERR: FC Z-ACC"); |
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228 | ErrorCode = 15; |
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232 | killagreg | 229 | } |
231 | holgerb | 230 | else if(FC_ErrorCode[0] & DEFEKT_PRESSURE) |
231 | { |
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232 | LED_RED_ON; |
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233 | sprintf(ErrorMSG,"ERR: Pressure sensor"); |
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234 | ErrorCode = 16; |
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232 | killagreg | 235 | } |
231 | holgerb | 236 | else if(FC_ErrorCode[1] & DEFEKT_I2C) |
237 | { |
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238 | LED_RED_ON; |
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239 | sprintf(ErrorMSG,"ERR: FC I2C"); |
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240 | ErrorCode = 17; |
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232 | killagreg | 241 | } |
231 | holgerb | 242 | else if(FC_ErrorCode[1] & DEFEKT_BL_MISSING) |
243 | { |
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244 | LED_RED_ON; |
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245 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
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246 | ErrorCode = 18; |
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232 | killagreg | 247 | } |
231 | holgerb | 248 | else if(FC_ErrorCode[1] & DEFEKT_MIXER_ERR) |
249 | { |
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250 | LED_RED_ON; |
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251 | sprintf(ErrorMSG,"Mixer Error"); |
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252 | ErrorCode = 19; |
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232 | killagreg | 253 | } |
242 | killagreg | 254 | /* else if(MK3MAG_Version.Compatible != MK3MAG_I2C_COMPATIBLE) |
41 | ingob | 255 | { |
256 | sprintf(ErrorMSG,"MK3Mag not compatible "); |
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257 | LED_RED_ON; |
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258 | ErrorCode = 2; |
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259 | StopNavigation = 1; |
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231 | holgerb | 260 | UART_VersionInfo.HardwareError[0] |= ERROR_MK3_INCOMPATIBLE; |
242 | killagreg | 261 | } */ |
146 | killagreg | 262 | else if(CheckDelay(UBX_Timeout)) |
41 | ingob | 263 | { |
264 | LED_RED_ON; |
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265 | sprintf(ErrorMSG,"no GPS communication "); |
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266 | ErrorCode = 5; |
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267 | StopNavigation = 1; |
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231 | holgerb | 268 | UART_VersionInfo.HardwareError[0] |= ERROR_GPS_COMMUNICATION; |
41 | ingob | 269 | } |
242 | killagreg | 270 | else if(CompassHeading < 0) |
41 | ingob | 271 | { |
272 | LED_RED_ON; |
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273 | sprintf(ErrorMSG,"bad compass value "); |
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274 | ErrorCode = 6; |
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275 | StopNavigation = 1; |
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231 | holgerb | 276 | UART_VersionInfo.HardwareError[0] |= ERROR_COMPASS_VALUE; |
41 | ingob | 277 | } |
199 | killagreg | 278 | else if(FC.Flags & FCFLAG_SPI_RX_ERR) |
279 | { |
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280 | LED_RED_ON; |
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281 | sprintf(ErrorMSG,"FC spi rx error "); |
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282 | ErrorCode = 8; |
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213 | killagreg | 283 | StopNavigation = 1; |
199 | killagreg | 284 | } |
231 | holgerb | 285 | else if(FC_ErrorCode[0] & DEFEKT_CAREFREE_ERR) |
286 | { |
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287 | LED_RED_ON; |
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288 | sprintf(ErrorMSG,"FC: Carefree Error"); |
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289 | ErrorCode = 20; |
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232 | killagreg | 290 | } |
41 | ingob | 291 | else if(FC.RC_Quality < 100) |
292 | { |
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293 | LED_RED_ON; |
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294 | sprintf(ErrorMSG,"RC Signal lost "); |
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295 | ErrorCode = 7; |
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296 | } |
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297 | else // no error occured |
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298 | { |
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299 | sprintf(ErrorMSG,"No Error "); |
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300 | ErrorCode = 0; |
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301 | StopNavigation = 0; |
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302 | LED_RED_OFF; |
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303 | } |
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232 | killagreg | 304 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 0x04; |
305 | else DebugOut.Status[1] &= ~0x04; |
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41 | ingob | 306 | } |
24 | StephanB | 307 | |
154 | killagreg | 308 | // the handler will be cyclic called by the timer 1 ISR |
213 | killagreg | 309 | // used is for critical timing parts that normaly would handled |
154 | killagreg | 310 | // within the main loop that could block longer at logging activities |
311 | void EXTIT3_IRQHandler(void) |
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312 | { |
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195 | killagreg | 313 | IENABLE; |
314 | |||
154 | killagreg | 315 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
195 | killagreg | 316 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
242 | killagreg | 317 | Compass_UpdateHeading(); // update compass communication |
154 | killagreg | 318 | Analog_Update(); // get new ADC values |
195 | killagreg | 319 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
154 | killagreg | 320 | |
195 | killagreg | 321 | IDISABLE; |
154 | killagreg | 322 | } |
323 | |||
41 | ingob | 324 | //---------------------------------------------------------------------------------------------------- |
325 | int main(void) |
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326 | { |
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327 | /* Configure the system clocks */ |
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328 | SCU_Config(); |
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329 | /* init VIC (Vectored Interrupt Controller) */ |
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330 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
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331 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
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332 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
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196 | killagreg | 333 | VIC_InitDefaultVectors(); |
334 | |||
119 | killagreg | 335 | // initialize timer 1 for System Clock and delay rountines |
41 | ingob | 336 | TIMER1_Init(); |
337 | // initialize the LEDs (needs Timer 1) |
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338 | Led_Init(); |
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339 | // initialize the debug UART1 |
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340 | UART1_Init(); |
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110 | killagreg | 341 | UART1_PutString("\r\n---------------------------------------------"); |
120 | killagreg | 342 | // initialize timer 2 for servo outputs |
180 | killagreg | 343 | //TIMER2_Init(); |
41 | ingob | 344 | // initialize UART2 to FLIGHTCTRL |
345 | UART2_Init(); |
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346 | // initialize UART0 (to MKGPS or MK3MAG) |
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347 | UART0_Init(); |
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134 | killagreg | 348 | // initialize adc |
349 | Analog_Init(); |
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41 | ingob | 350 | // initialize usb |
244 | killagreg | 351 | USB_ConfigInit(); |
41 | ingob | 352 | // initialize SPI0 to FC |
353 | SPI0_Init(); |
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242 | killagreg | 354 | // initialize i2c bus (needs Timer 1) |
41 | ingob | 355 | I2C1_Init(); |
247 | killagreg | 356 | // initialize fat16 partition on sd card (needs Timer 1) |
41 | ingob | 357 | Fat16_Init(); |
156 | killagreg | 358 | // initialize NC params |
359 | NCParams_Init(); |
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88 | killagreg | 360 | // initialize the settings |
361 | Settings_Init(); |
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92 | killagreg | 362 | // initialize logging (needs settings) |
82 | killagreg | 363 | Logging_Init(); |
1 | ingob | 364 | |
41 | ingob | 365 | TimerCheckError = SetDelay(3000); |
175 | holgerb | 366 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
110 | killagreg | 367 | UART1_PutString("\n\r Version information:"); |
116 | killagreg | 368 | |
41 | ingob | 369 | GetNaviCtrlVersion(); |
231 | holgerb | 370 | DebugOut.Status[0] = 0x04 | 0x08; // NC and MK3Mag |
371 | DebugOut.Status[1] = 0x00; |
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149 | killagreg | 372 | |
242 | killagreg | 373 | Compass_Init(); |
374 | |||
150 | killagreg | 375 | SPI0_GetFlightCtrlVersion(); |
376 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
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41 | ingob | 377 | { |
150 | killagreg | 378 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
41 | ingob | 379 | LED_RED_ON; |
380 | } |
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1 | ingob | 381 | |
247 | killagreg | 382 | GPS_Init(); |
116 | killagreg | 383 | |
213 | killagreg | 384 | |
247 | killagreg | 385 | |
213 | killagreg | 386 | // ---------- Prepare the isr driven |
154 | killagreg | 387 | // set to absolute lowest priority |
388 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
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195 | killagreg | 389 | // enable interrupts |
154 | killagreg | 390 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
244 | killagreg | 391 | |
250 | ingob | 392 | Debug_OK("START"); |
393 | |||
154 | killagreg | 394 | for (;;) // the endless main loop |
41 | ingob | 395 | { |
155 | killagreg | 396 | UART0_ProcessRxData(); // process request |
397 | UART1_ProcessRxData(); // process request |
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250 | ingob | 398 | //USB_ProcessRxData(); // process request |
154 | killagreg | 399 | UART0_TransmitTxData(); // send answer |
146 | killagreg | 400 | UART1_TransmitTxData(); // send answer |
190 | killagreg | 401 | UART2_TransmitTxData(); // send answer |
250 | ingob | 402 | //USB_TransmitTxData(); // send answer |
155 | killagreg | 403 | SPI0_UpdateBuffer(); // handle new SPI Data |
41 | ingob | 404 | // ---------------- Error Check Timing ---------------------------- |
405 | if(CheckDelay(TimerCheckError)) |
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1 | ingob | 406 | { |
114 | killagreg | 407 | TimerCheckError = SetDelay(1000); |
215 | killagreg | 408 | if(CheckDelay(SPI0_Timeout)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
41 | ingob | 409 | CheckErrors(); |
199 | killagreg | 410 | if(FC.Flags & FCFLAG_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
146 | killagreg | 411 | // else NaviData.FlyingTime = 0; // not the time per flight |
92 | killagreg | 412 | if(SerialLinkOkay) SerialLinkOkay--; |
413 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
||
414 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
||
228 | holgerb | 415 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50)) BeepTime = 1000; |
1 | ingob | 416 | } |
82 | killagreg | 417 | // ---------------- Logging --------------------------------------- |
146 | killagreg | 418 | 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 | 419 | } |
1 | ingob | 420 | } |
421 | |||
24 | StephanB | 422 |