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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" |
254 | killagreg | 82 | #include "eeprom.h" |
350 | holgerb | 83 | #include "ssc.h" |
254 | killagreg | 84 | |
314 | killagreg | 85 | #ifdef FOLLOW_ME |
86 | u8 TransmitAlsoToFC = 0; |
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87 | #endif |
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41 | ingob | 88 | u32 TimerCheckError; |
234 | killagreg | 89 | u8 ErrorCode = 0; |
41 | ingob | 90 | u16 BeepTime; |
92 | killagreg | 91 | u8 NCFlags = 0; |
153 | killagreg | 92 | s16 GeoMagDec = 0; // local magnetic declination in 0.1 deg |
328 | holgerb | 93 | u8 ErrorGpsFixLost = 0; |
1 | ingob | 94 | |
255 | killagreg | 95 | u8 ClearFCStatusFlags = 0; |
41 | ingob | 96 | u8 StopNavigation = 0; |
97 | Param_t Parameter; |
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78 | holgerb | 98 | volatile FC_t FC; |
1 | ingob | 99 | |
41 | ingob | 100 | s8 ErrorMSG[25]; |
101 | |||
1 | ingob | 102 | //---------------------------------------------------------------------------------------------------- |
41 | ingob | 103 | void SCU_Config(void) |
1 | ingob | 104 | { |
41 | ingob | 105 | /* configure PLL and set it as master clock source */ |
106 | SCU_MCLKSourceConfig(SCU_MCLK_OSC); // set master clock source to external oscillator clock (25MHz) before diabling the PLL |
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107 | SCU_PLLCmd(DISABLE); // now disable the PLL |
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108 | #ifdef MCLK96MHZ |
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109 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div2); // set BRCLK to MCLK/2 = 48MHz |
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110 | SCU_PCLKDivisorConfig(SCU_PCLK_Div4); // set PCLK (APB bus clock) divisor to 4 (half Reference Clock) |
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111 | SCU_RCLKDivisorConfig(SCU_RCLK_Div2); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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112 | SCU_HCLKDivisorConfig(SCU_HCLK_Div2); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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113 | SCU_PLLFactorsConfig(192,25,2); // PLL = 96 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=2 |
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114 | #else |
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115 | SCU_BRCLKDivisorConfig(SCU_BRCLK_Div1); // set BRCLK to MCLK = 48MHz |
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116 | SCU_PCLKDivisorConfig(SCU_PCLK_Div2); // set PCLK (APB bus clock) divisor to 2 (half Reference Clock) |
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117 | SCU_RCLKDivisorConfig(SCU_RCLK_Div1); // set RCLK (Reference Clock) divisor to 1 (full PPL clock) |
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118 | SCU_HCLKDivisorConfig(SCU_HCLK_Div1); // set HCLK (AHB bus clock) divisor to 1 (full Reference Clock) |
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119 | SCU_PLLFactorsConfig(192,25,3); // PLL = 48 MHz, Feedback Divider N=192, Pre-Divider M=25, Post-Divider P=3 |
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120 | #endif |
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121 | SCU_PLLCmd(ENABLE); // Enable PLL (is disabled by SCU_PLLFactorsConfig) |
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122 | SCU_MCLKSourceConfig(SCU_MCLK_PLL); // set master clock source to PLL |
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123 | } |
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1 | ingob | 124 | |
41 | ingob | 125 | //---------------------------------------------------------------------------------------------------- |
126 | void GetNaviCtrlVersion(void) |
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1 | ingob | 127 | { |
41 | ingob | 128 | u8 msg[25]; |
270 | killagreg | 129 | |
264 | killagreg | 130 | 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 | 131 | UART1_PutString(msg); |
1 | ingob | 132 | } |
133 | |||
134 | //---------------------------------------------------------------------------------------------------- |
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231 | holgerb | 135 | |
41 | ingob | 136 | void CheckErrors(void) |
137 | { |
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329 | holgerb | 138 | static s32 no_error_delay = 0; |
328 | holgerb | 139 | s32 newErrorCode = 0; |
232 | killagreg | 140 | UART_VersionInfo.HardwareError[0] = 0; |
231 | holgerb | 141 | |
338 | holgerb | 142 | if(CheckDelay(I2C1_Timeout) || (Compass_Heading < 0)) DebugOut.StatusRed |= AMPEL_COMPASS; |
143 | else DebugOut.StatusRed &= ~AMPEL_COMPASS; // MK3Mag green status |
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231 | holgerb | 144 | |
338 | holgerb | 145 | if((FC.Error[1] & FC_ERROR1_I2C) || (FC.Error[1] & FC_ERROR1_BL_MISSING)) DebugOut.StatusRed |= AMPEL_BL; |
146 | else DebugOut.StatusRed &= ~AMPEL_BL; // BL-Ctrl green status |
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232 | killagreg | 147 | |
338 | holgerb | 148 | if(UART_VersionInfo.HardwareError[0] || UART_VersionInfo.HardwareError[1]) DebugOut.StatusRed |= AMPEL_NC; |
149 | else DebugOut.StatusRed &= ~AMPEL_NC; |
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150 | |||
146 | killagreg | 151 | if(CheckDelay(SPI0_Timeout)) |
41 | ingob | 152 | { |
153 | LED_RED_ON; |
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154 | sprintf(ErrorMSG,"no FC communication "); |
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328 | holgerb | 155 | newErrorCode = 3; |
41 | ingob | 156 | StopNavigation = 1; |
338 | holgerb | 157 | DebugOut.StatusGreen &= ~AMPEL_FC; // status of FC Present |
158 | DebugOut.StatusGreen &= ~AMPEL_BL; // status of BL Present |
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256 | killagreg | 159 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_SPI_RX; |
41 | ingob | 160 | } |
229 | holgerb | 161 | else if(CheckDelay(I2C1_Timeout)) |
41 | ingob | 162 | { |
163 | LED_RED_ON; |
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256 | killagreg | 164 | sprintf(ErrorMSG,"no compass communication "); |
149 | killagreg | 165 | //Reset I2CBus |
166 | I2C1_Deinit(); |
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167 | I2C1_Init(); |
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328 | holgerb | 168 | newErrorCode = 4; |
41 | ingob | 169 | StopNavigation = 1; |
256 | killagreg | 170 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_RX; |
338 | holgerb | 171 | DebugOut.StatusRed |= AMPEL_COMPASS; |
41 | ingob | 172 | } |
173 | else if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
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174 | { |
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175 | LED_RED_ON; |
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318 | holgerb | 176 | #ifndef FOLLOW_ME |
41 | ingob | 177 | sprintf(ErrorMSG,"FC not compatible "); |
318 | holgerb | 178 | #else |
179 | sprintf(ErrorMSG,"! FollowMe only ! "); |
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180 | #endif |
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328 | holgerb | 181 | newErrorCode = 1; |
41 | ingob | 182 | StopNavigation = 1; |
256 | killagreg | 183 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_FC_INCOMPATIBLE; |
338 | holgerb | 184 | DebugOut.StatusRed |= AMPEL_NC; |
41 | ingob | 185 | } |
231 | holgerb | 186 | |
255 | killagreg | 187 | else if(FC.Error[0] & FC_ERROR0_GYRO_NICK) |
231 | holgerb | 188 | { |
189 | LED_RED_ON; |
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190 | sprintf(ErrorMSG,"ERR: FC Nick Gyro"); |
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328 | holgerb | 191 | newErrorCode = 10; |
232 | killagreg | 192 | } |
255 | killagreg | 193 | else if(FC.Error[0] & FC_ERROR0_GYRO_ROLL) |
231 | holgerb | 194 | { |
195 | LED_RED_ON; |
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196 | sprintf(ErrorMSG,"ERR: FC Roll Gyro"); |
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328 | holgerb | 197 | newErrorCode = 11; |
232 | killagreg | 198 | } |
255 | killagreg | 199 | else if(FC.Error[0] & FC_ERROR0_GYRO_YAW) |
231 | holgerb | 200 | { |
201 | LED_RED_ON; |
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202 | sprintf(ErrorMSG,"ERR: FC Yaw Gyro"); |
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328 | holgerb | 203 | newErrorCode = 12; |
232 | killagreg | 204 | } |
255 | killagreg | 205 | else if(FC.Error[0] & FC_ERROR0_ACC_NICK) |
231 | holgerb | 206 | { |
207 | LED_RED_ON; |
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208 | sprintf(ErrorMSG,"ERR: FC Nick ACC"); |
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328 | holgerb | 209 | newErrorCode = 13; |
232 | killagreg | 210 | } |
255 | killagreg | 211 | else if(FC.Error[0] & FC_ERROR0_ACC_ROLL) |
231 | holgerb | 212 | { |
213 | LED_RED_ON; |
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214 | sprintf(ErrorMSG,"ERR: FC Roll ACC"); |
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328 | holgerb | 215 | newErrorCode = 14; |
232 | killagreg | 216 | } |
255 | killagreg | 217 | else if(FC.Error[0] & FC_ERROR0_ACC_TOP) |
231 | holgerb | 218 | { |
219 | LED_RED_ON; |
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327 | holgerb | 220 | sprintf(ErrorMSG,"ERR:FC Z-ACC"); |
328 | holgerb | 221 | newErrorCode = 15; |
232 | killagreg | 222 | } |
255 | killagreg | 223 | else if(FC.Error[0] & FC_ERROR0_PRESSURE) |
231 | holgerb | 224 | { |
225 | LED_RED_ON; |
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327 | holgerb | 226 | sprintf(ErrorMSG,"ERR:Pressure sensor"); |
328 | holgerb | 227 | newErrorCode = 16; |
232 | killagreg | 228 | } |
255 | killagreg | 229 | else if(FC.Error[1] & FC_ERROR1_I2C) |
231 | holgerb | 230 | { |
231 | LED_RED_ON; |
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327 | holgerb | 232 | sprintf(ErrorMSG,"ERR:I2C FC to BL"); |
328 | holgerb | 233 | newErrorCode = 17; |
232 | killagreg | 234 | } |
255 | killagreg | 235 | else if(FC.Error[1] & FC_ERROR1_BL_MISSING) |
231 | holgerb | 236 | { |
237 | LED_RED_ON; |
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238 | sprintf(ErrorMSG,"ERR: Bl Missing"); |
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328 | holgerb | 239 | newErrorCode = 18; |
232 | killagreg | 240 | } |
255 | killagreg | 241 | else if(FC.Error[1] & FC_ERROR1_MIXER) |
231 | holgerb | 242 | { |
243 | LED_RED_ON; |
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244 | sprintf(ErrorMSG,"Mixer Error"); |
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328 | holgerb | 245 | newErrorCode = 19; |
232 | killagreg | 246 | } |
350 | holgerb | 247 | else if(CheckDelay(UBX_Timeout) && Parameter.GlobalConfig & FC_CFG_GPS_AKTIV) |
41 | ingob | 248 | { |
249 | LED_RED_ON; |
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350 | holgerb | 250 | // if(!(Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) sprintf(ErrorMSG,"GPS disconnected "); |
251 | // else |
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320 | holgerb | 252 | { |
253 | sprintf(ErrorMSG,"no GPS communication "); |
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254 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_GPS_RX; |
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328 | holgerb | 255 | newErrorCode = 5; |
320 | holgerb | 256 | } |
41 | ingob | 257 | StopNavigation = 1; |
320 | holgerb | 258 | // UBX_Timeout = SetDelay(500); |
41 | ingob | 259 | } |
254 | killagreg | 260 | else if(Compass_Heading < 0) |
41 | ingob | 261 | { |
262 | LED_RED_ON; |
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263 | sprintf(ErrorMSG,"bad compass value "); |
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328 | holgerb | 264 | newErrorCode = 6; |
41 | ingob | 265 | StopNavigation = 1; |
256 | killagreg | 266 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
41 | ingob | 267 | } |
255 | killagreg | 268 | else if((FC.Error[1] & FC_ERROR1_SPI_RX)) |
199 | killagreg | 269 | { |
270 | LED_RED_ON; |
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271 | sprintf(ErrorMSG,"FC spi rx error "); |
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328 | holgerb | 272 | newErrorCode = 8; |
213 | killagreg | 273 | StopNavigation = 1; |
199 | killagreg | 274 | } |
255 | killagreg | 275 | else if(FC.Error[0] & FC_ERROR0_CAREFREE) |
231 | holgerb | 276 | { |
277 | LED_RED_ON; |
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278 | sprintf(ErrorMSG,"FC: Carefree Error"); |
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328 | holgerb | 279 | newErrorCode = 20; |
232 | killagreg | 280 | } |
255 | killagreg | 281 | else if(FC.Error[1] & FC_ERROR1_PPM) |
41 | ingob | 282 | { |
283 | LED_RED_ON; |
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284 | sprintf(ErrorMSG,"RC Signal lost "); |
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328 | holgerb | 285 | newErrorCode = 7; |
41 | ingob | 286 | } |
328 | holgerb | 287 | else if(ErrorGpsFixLost) |
288 | { |
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289 | LED_RED_ON; |
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290 | sprintf(ErrorMSG,"GPS Fix lost "); |
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291 | newErrorCode = 21; |
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292 | } |
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330 | holgerb | 293 | else if(ErrorDisturbedEarthMagnetField) |
294 | { |
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295 | LED_RED_ON; |
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296 | sprintf(ErrorMSG,"Magnet error "); |
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297 | newErrorCode = 22; |
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338 | holgerb | 298 | DebugOut.StatusRed |= AMPEL_COMPASS | AMPEL_NC; |
299 | UART_VersionInfo.HardwareError[0] |= NC_ERROR0_COMPASS_VALUE; |
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330 | holgerb | 300 | } |
338 | holgerb | 301 | else if(BL_MinOfMaxPWM == 40 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
302 | { |
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303 | LED_RED_ON; |
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304 | sprintf(ErrorMSG,"ERR:Motor restart "); |
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305 | newErrorCode = 23; |
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306 | DebugOut.StatusRed |= AMPEL_BL; |
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307 | } |
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308 | else if(BL_MinOfMaxPWM != 255 && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
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309 | { |
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310 | LED_RED_ON; |
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311 | sprintf(ErrorMSG,"ERR:BL Limitation "); |
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312 | newErrorCode = 24; |
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313 | DebugOut.StatusRed |= AMPEL_BL; |
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314 | } |
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348 | holgerb | 315 | else if(NCFlags & NC_FLAG_RANGE_LIMIT && (FC.StatusFlags & FC_STATUS_FLY) && !ErrorCode) |
316 | { |
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317 | LED_RED_ON; |
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318 | sprintf(ErrorMSG,"ERR:Waypoint range "); |
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319 | newErrorCode = 25; |
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320 | DebugOut.StatusRed |= AMPEL_NC; |
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321 | } |
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350 | holgerb | 322 | else if(!SD_SWITCH && Parameter.GlobalConfig3 & CFG3_NO_SDCARD_NO_START) |
323 | { |
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324 | LED_RED_ON; |
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325 | sprintf(ErrorMSG,"ERR:No SD-Card "); |
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326 | newErrorCode = 26; |
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327 | DebugOut.StatusRed |= AMPEL_NC; |
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328 | } |
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41 | ingob | 329 | else // no error occured |
330 | { |
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331 | StopNavigation = 0; |
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332 | LED_RED_OFF; |
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328 | holgerb | 333 | if(no_error_delay) { no_error_delay--; } |
334 | else |
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335 | { |
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336 | sprintf(ErrorMSG,"No Error "); |
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337 | ErrorCode = 0; |
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338 | } |
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41 | ingob | 339 | } |
328 | holgerb | 340 | |
341 | if(newErrorCode) |
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342 | { |
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339 | holgerb | 343 | if(FC.StatusFlags & FC_STATUS_MOTOR_RUN) no_error_delay = 8; // delay the errors if the motors are running |
328 | holgerb | 344 | ErrorCode = newErrorCode; |
345 | } |
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346 | FC.Error[0] = 0; |
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347 | FC.Error[1] = 0; |
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348 | FC.Error[2] = 0; |
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349 | FC.Error[3] = 0; |
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350 | FC.Error[4] = 0; |
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351 | ErrorGpsFixLost = 0; |
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41 | ingob | 352 | } |
24 | StephanB | 353 | |
154 | killagreg | 354 | // the handler will be cyclic called by the timer 1 ISR |
213 | killagreg | 355 | // used is for critical timing parts that normaly would handled |
154 | killagreg | 356 | // within the main loop that could block longer at logging activities |
357 | void EXTIT3_IRQHandler(void) |
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358 | { |
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195 | killagreg | 359 | IENABLE; |
360 | |||
154 | killagreg | 361 | VIC_ITCmd(EXTIT3_ITLine,DISABLE); // disable irq |
195 | killagreg | 362 | VIC_SWITCmd(EXTIT3_ITLine,DISABLE); // clear pending bit |
292 | killagreg | 363 | Compass_Update(); // update compass communication |
154 | killagreg | 364 | Analog_Update(); // get new ADC values |
195 | killagreg | 365 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); // enable irq |
154 | killagreg | 366 | |
195 | killagreg | 367 | IDISABLE; |
154 | killagreg | 368 | } |
369 | |||
41 | ingob | 370 | //---------------------------------------------------------------------------------------------------- |
371 | int main(void) |
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372 | { |
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324 | killagreg | 373 | /* |
374 | static u32 ftimer =0; |
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375 | static u8 fstate = 0; |
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376 | static File_t* f = NULL; |
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377 | */ |
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378 | |||
41 | ingob | 379 | /* Configure the system clocks */ |
380 | SCU_Config(); |
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381 | /* init VIC (Vectored Interrupt Controller) */ |
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382 | SCU_AHBPeriphClockConfig(__VIC,ENABLE); // enable AHB bus clock for VIC |
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383 | SCU_AHBPeriphReset(__VIC, DISABLE); // disable reset state for VIC |
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384 | VIC_DeInit(); // deinitializes the VIC module registers to their default reset values. |
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196 | killagreg | 385 | VIC_InitDefaultVectors(); |
386 | |||
119 | killagreg | 387 | // initialize timer 1 for System Clock and delay rountines |
41 | ingob | 388 | TIMER1_Init(); |
389 | // initialize the LEDs (needs Timer 1) |
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390 | Led_Init(); |
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391 | // initialize the debug UART1 |
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392 | UART1_Init(); |
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110 | killagreg | 393 | UART1_PutString("\r\n---------------------------------------------"); |
275 | killagreg | 394 | // initialize usb |
395 | USB_ConfigInit(); |
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120 | killagreg | 396 | // initialize timer 2 for servo outputs |
180 | killagreg | 397 | //TIMER2_Init(); |
41 | ingob | 398 | // initialize UART2 to FLIGHTCTRL |
399 | UART2_Init(); |
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400 | // initialize UART0 (to MKGPS or MK3MAG) |
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401 | UART0_Init(); |
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134 | killagreg | 402 | // initialize adc |
403 | Analog_Init(); |
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41 | ingob | 404 | // initialize SPI0 to FC |
405 | SPI0_Init(); |
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242 | killagreg | 406 | // initialize i2c bus (needs Timer 1) |
41 | ingob | 407 | I2C1_Init(); |
247 | killagreg | 408 | // initialize fat16 partition on sd card (needs Timer 1) |
41 | ingob | 409 | Fat16_Init(); |
156 | killagreg | 410 | // initialize NC params |
411 | NCParams_Init(); |
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88 | killagreg | 412 | // initialize the settings |
413 | Settings_Init(); |
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92 | killagreg | 414 | // initialize logging (needs settings) |
82 | killagreg | 415 | Logging_Init(); |
1 | ingob | 416 | |
41 | ingob | 417 | TimerCheckError = SetDelay(3000); |
175 | holgerb | 418 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
110 | killagreg | 419 | UART1_PutString("\n\r Version information:"); |
116 | killagreg | 420 | |
41 | ingob | 421 | GetNaviCtrlVersion(); |
338 | holgerb | 422 | DebugOut.StatusGreen = AMPEL_NC | AMPEL_COMPASS; // NC and MK3Mag |
423 | DebugOut.StatusRed = 0x00; |
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149 | killagreg | 424 | |
242 | killagreg | 425 | Compass_Init(); |
270 | killagreg | 426 | |
314 | killagreg | 427 | #ifdef FOLLOW_ME |
428 | TransmitAlsoToFC = 1; |
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429 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++"); |
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430 | UART1_PutString("\n\r FOLLOW-ME Transmitter only!"); |
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431 | UART1_PutString("\r\n++++++++++++++++++++++++++++++++++++++++++\r\n\r\n"); |
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432 | TransmitAlsoToFC = 0; |
||
433 | #else |
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150 | killagreg | 434 | SPI0_GetFlightCtrlVersion(); |
435 | if(FC_Version.Compatible != FC_SPI_COMPATIBLE) |
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41 | ingob | 436 | { |
150 | killagreg | 437 | UART1_PutString("\n\r Flight-Ctrl not compatible"); |
41 | ingob | 438 | LED_RED_ON; |
439 | } |
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314 | killagreg | 440 | #endif |
1 | ingob | 441 | |
270 | killagreg | 442 | GPS_Init(); |
116 | killagreg | 443 | |
213 | killagreg | 444 | // ---------- Prepare the isr driven |
154 | killagreg | 445 | // set to absolute lowest priority |
446 | VIC_Config(EXTIT3_ITLine, VIC_IRQ, PRIORITY_SW); |
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195 | killagreg | 447 | // enable interrupts |
154 | killagreg | 448 | VIC_ITCmd(EXTIT3_ITLine, ENABLE); |
244 | killagreg | 449 | |
250 | ingob | 450 | Debug_OK("START"); |
270 | killagreg | 451 | |
154 | killagreg | 452 | for (;;) // the endless main loop |
41 | ingob | 453 | { |
155 | killagreg | 454 | UART0_ProcessRxData(); // process request |
455 | UART1_ProcessRxData(); // process request |
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254 | killagreg | 456 | USB_ProcessRxData(); // process request |
154 | killagreg | 457 | UART0_TransmitTxData(); // send answer |
146 | killagreg | 458 | UART1_TransmitTxData(); // send answer |
190 | killagreg | 459 | UART2_TransmitTxData(); // send answer |
254 | killagreg | 460 | USB_TransmitTxData(); // send answer |
155 | killagreg | 461 | SPI0_UpdateBuffer(); // handle new SPI Data |
327 | holgerb | 462 | |
41 | ingob | 463 | // ---------------- Error Check Timing ---------------------------- |
464 | if(CheckDelay(TimerCheckError)) |
||
1 | ingob | 465 | { |
114 | killagreg | 466 | TimerCheckError = SetDelay(1000); |
327 | holgerb | 467 | if(CheckDelay(SPI0_Timeout) && (DebugUART == UART1)) GPS_Navigation(&GPSData, &(ToFlightCtrl.GPSStick)); // process the GPS data even if the FC is not connected |
468 | |||
469 | if(!CheckDelay(SPI0_Timeout) || (DebugUART == UART1)) CheckErrors(); |
||
470 | |||
255 | killagreg | 471 | if(FC.StatusFlags & FC_STATUS_FLY) NaviData.FlyingTime++; // we want to count the battery-time |
146 | killagreg | 472 | // else NaviData.FlyingTime = 0; // not the time per flight |
92 | killagreg | 473 | if(SerialLinkOkay) SerialLinkOkay--; |
474 | if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication |
||
475 | else NCFlags &= ~NC_FLAG_NOSERIALLINK; |
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320 | holgerb | 476 | if(StopNavigation && (Parameter.NaviGpsModeControl >= 50) && (Parameter.GlobalConfig & FC_CFG_GPS_AKTIV)) BeepTime = 1000; |
1 | ingob | 477 | } |
327 | holgerb | 478 | |
82 | killagreg | 479 | // ---------------- Logging --------------------------------------- |
146 | killagreg | 480 | 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 |
327 | holgerb | 481 | |
324 | killagreg | 482 | /* |
483 | // test |
||
484 | if(CheckDelay(ftimer)) |
||
485 | { |
||
486 | |||
487 | s8* filename = "test.txt"; |
||
488 | |||
489 | ftimer = SetDelay(100); |
||
490 | if(FC.Poti[3]>100 && fstate == 0) |
||
491 | { |
||
492 | fstate = 1; |
||
493 | } |
||
494 | else if(FC.Poti[3]<100 && fstate == 2) |
||
495 | { |
||
496 | fstate = 3; |
||
497 | } |
||
498 | |||
499 | switch(fstate) |
||
500 | { |
||
501 | case 1: |
||
502 | sprintf(text,"\r\nStart writing file: %s", filename); |
||
503 | UART1_PutString(text); |
||
504 | f = fopen_(filename, 'a'); |
||
505 | if(f== NULL) Fat16_Init(); |
||
506 | fstate = 2; |
||
507 | break; |
||
508 | |||
509 | case 2: |
||
510 | fputs_("\r\ntest edins sdv dsivbds iv dsivb disbv idsv bisd bv d suiv dsibsivbdis fbvisdöb visdbvisdb vidbfibds ibv", f); |
||
511 | break; |
||
512 | |||
513 | case 3: |
||
514 | sprintf(text,"\r\nClosing file: %s", filename); |
||
515 | UART1_PutString(text); |
||
516 | fclose_(f); |
||
517 | fstate = 0; |
||
518 | break; |
||
519 | |||
520 | default: |
||
521 | break; |
||
522 | } |
||
523 | } |
||
524 | */ |
||
24 | StephanB | 525 | } |
1 | ingob | 526 | } |
527 | |||
342 | holgerb | 528 | // DebugOut.Analog[] |